DocumentCode
3326367
Title
Bearing only FastSLAM using vertical line information from an omnidirectional camera
Author
Wongphati, Mahisorn ; Niparnan, Nattee ; Sudsang, Attawith
Author_Institution
Dept. of Comput. Eng., Chulalongkorn Univ., Bangkok
fYear
2009
fDate
22-25 Feb. 2009
Firstpage
1188
Lastpage
1193
Abstract
This paper proposes an implementation of Fast-SLAM for localization and mapping for an indoor environment. The system use only the bearing information retrieved from an omnidirectional camera via vertical line segments which are common in an indoor environment. The real world experiment is also presented using Pioneer-DX3 mobile robot moving in a room with several objects.
Keywords
SLAM (robots); image sensors; information retrieval; mobile robots; Fast-SLAM; Pioneer-DX3 mobile robot; bearing information retrieval; omnidirectional camera; vertical line information; Biomimetics; Cameras; Humans; Indoor environments; Machine vision; Mobile robots; Position measurement; Robot sensing systems; Robot vision systems; Simultaneous localization and mapping; Omnidirectional camera; SLAM; localization; mapping; mobile robot;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Biomimetics, 2008. ROBIO 2008. IEEE International Conference on
Conference_Location
Bangkok
Print_ISBN
978-1-4244-2678-2
Electronic_ISBN
978-1-4244-2679-9
Type
conf
DOI
10.1109/ROBIO.2009.4913169
Filename
4913169
Link To Document