DSLAM: Towards a real-time robot mapping approach

Author

Xiuzhi Li ; Songmin Jia ; Wei Cui ; Xiaolin Yin

Author_Institution

Coll. of Electron. Inf. & Control Eng., Beijing Univ. of Technol., Beijing, China

fYear

2012

fDate

20-23 Aug. 2012

Firstpage

1859

Lastpage

1863

Abstract

This paper presents a Distributed Simultaneous Localization and Mapping (DSLAM) technique to realize Laser Range Finder (LRF) and stereo vision based 3D robotics fast mapping. The motivation stems from the fact that the optimization procedure of laser scan matching involved in robot SLAM and the stereo ranging is both computationally intensive. In DSLAM, parallelism mechanism is studied by using multi-thread architecture. Experimental results demonstrated the effectiveness of DSLAM in improving the efficiency of robot mapping.

Keywords

SLAM (robots); control engineering computing; laser ranging; mobile robots; multi-threading; parallel architectures; real-time systems; robot vision; stereo image processing; visual perception; DSLAM; LRF; distributed simultaneous localization and mapping; laser range finder; laser scan matching; multithread architecture; optimization procedure; parallelism mechanism; real-time robot mapping; robot SLAM; stereo ranging; stereo vision based 3D robotics fast mapping; Instruction sets; Lasers; Particle filters; Simultaneous localization and mapping; Stereo vision; Distributed SLAM; Laser Range Finder; Mobile robot; Multiple thread; Stereo vision;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE Annual Conference (SICE), 2012 Proceedings of

Conference_Location

Akita

ISSN

pending

Print_ISBN

978-1-4673-2259-1

Type

conf

Filename

6318759