A unified visual graph-based approach to navigation for wheeled mobile robots

Author

Hartmann, Jean-Michel ; Klussendorff, Jan Helge ; Maehle, Erik

Author_Institution

Inst. for Comput. Eng., Univ. of Lubeck, Lubeck, Germany

fYear

2013

fDate

3-7 Nov. 2013

Firstpage

1915

Lastpage

1922

Abstract

The emergence of affordable 3D cameras in recent years has led to an increased interest in camera-based navigation solutions. Yet, while there have been significant efforts in the field of visual simultaneous localization and mapping (VSLAM), a complete navigation package that could rival popular laser-based solutions is not available. In this paper, we will therefore introduce visual solutions to SLAM, localization, and path planning in a unified graph-based framework with the main target of wheeled robots in industrial applications. Novel solutions will be introduced in the fields of place recognition and loop closing as well as localization. Our algorithms will be built for the Robot Operating System (ROS) and fully replace the popular gmapping and AMCL algorithms.

Keywords

SLAM (robots); cameras; graph theory; industrial robots; mobile robots; path planning; robot vision; wheels; 3D cameras; AMCL algorithm; ROS; VSLAM; camera-based navigation; gmapping algorithm; industrial applications; loop closing; navigation package; path planning; place recognition; robot operating system; unified visual graph-based approach; visual simultaneous localization and mapping; wheeled mobile robots; Cameras; Feature extraction; Navigation; Path planning; Simultaneous localization and mapping; Visualization;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on

Conference_Location

Tokyo

ISSN

2153-0858

Type

conf

DOI

10.1109/IROS.2013.6696610

Filename

6696610