Title :
Environmental mapping for mobile robot by tracking SIFT feature Points using trinocular vision
Author :
Ogawa, Yoko ; Shimada, Nobutaka ; Shirai, Yoshiaki
Author_Institution :
Ritsumeikan Univ., Shiga
Abstract :
This paper presents a SIFT based map building and self localization method for mobile robots. First a mapping robot with trinocular vision builds the 3-D keypoint map of unknown environment with a high accuracy and then the working robot with a monocular vision localize the own position by matching the SIFT keypoints to the map. Experimental results of mapping and localization for a real indoor scene is shown.
Keywords :
mobile robots; path planning; robot vision; environmental mapping; mapping robot; mobile robot; monocular vision; self localization method; trinocular vision; Computational efficiency; Layout; Machine vision; Mobile robots; Motion measurement; Navigation; Orbital robotics; Robot kinematics; Robot vision systems; Robotics and automation; Kalman filter; Map building; Robot navigation; SIFT;
Conference_Titel :
SICE, 2007 Annual Conference
Conference_Location :
Takamatsu
Print_ISBN :
978-4-907764-27-2
Electronic_ISBN :
978-4-907764-27-2
DOI :
10.1109/SICE.2007.4421314
