Map management system for cv-SLAM

Author

Choi, Hyukdoo ; Kim, Euntai ; Park, Yong Woon ; Chong Hui Kim

Author_Institution

Sch. of Electr. & Electron. Eng., Yonsei Univ., Seoul, South Korea

fYear

2011

fDate

23-26 Nov. 2011

Firstpage

55

Lastpage

57

Abstract

This paper present a map management system for ceiling vision (cv)-SLAM where a map is comprised of line landmarks on the ceiling. Since the size of a map, which is the number of landmarks, is related to computational and memorial cost, it should be managed in an appropriate size. For this purpose, the binary Bayes filter is utilized to estimate the probability of existence of a landmark. We demonstrate the system in the real world experiment to prove its performance.

Keywords

Bayes methods; SLAM (robots); estimation theory; filtering theory; mobile robots; robot vision; binary Bayes filter; ceiling vision-SLAM; computational cost; cv-SLAM; map management system; memorial cost; mobile robot; probability estimation; simultaneous localization-and-mapping; Cameras; Noise measurement; Robot kinematics; Simultaneous localization and mapping; Visualization; Simultaneous localization and mapping (SLAM); binary Bayes filter; map management;

fLanguage

English

Publisher

ieee

Conference_Titel

Ubiquitous Robots and Ambient Intelligence (URAI), 2011 8th International Conference on

Conference_Location

Incheon

Print_ISBN

978-1-4577-0722-3

Type

conf

DOI

10.1109/URAI.2011.6145932

Filename

6145932