Title :
The SLAM algorithm of mobile robot with omnidirectional vision based on EKF
Author :
Wang, Kaiyu ; Xia, Guihua ; Zhu, Qidan ; Yu, Yongtao ; Wu, Yebin ; Wang, Yan
Author_Institution :
Dept. of Autom., Harbin Eng. Univ., Harbin, China
Abstract :
An improved simultaneous localization and mapping(SLAM) method based on extended Kalman filter(EKF) is presented to solve the SLAM problem of mobile robot with omnidirectional vision. The environment feature is extracted from the environment information around the mobile robot got by onmidirectional vision, then the landmark is located, finally, the position and attitude of the mobile robot and the map library are updated synchronously by using the EKF algorithm. Simulation results and real robot experiment results indicate the effectiveness and accuracy of the proposed approach.
Keywords :
Kalman filters; SLAM (robots); computer vision; feature extraction; mobile robots; EKF; SLAM algorithm; environment information; extended Kalman filter; feature extraction; landmark detection; map library; mobile robot; omnidirectional vision; simultaneous localization and mapping; Kalman filters; Mathematical model; Mobile robots; Robot kinematics; Simultaneous localization and mapping; EKF (extended Kalman filter); SLAM (simultaneous localization and mapping); mobile robot; omnidirectional vision;
Conference_Titel :
Information and Automation (ICIA), 2012 International Conference on
Conference_Location :
Shenyang
Print_ISBN :
978-1-4673-2238-6
Electronic_ISBN :
978-1-4673-2236-2
DOI :
10.1109/ICInfA.2012.6246774
