Indoor SLAM using a range-augmented omnidirectional vision

B. Bacca Cortes, X. Cufi Sole, J. Salvi

Producción científica: Capítulo del libroContribución a congreso/conferenciarevisión exhaustiva

8 Citas (Scopus)

Resumen

A promising combination of sensors as a laser range finder and an omnidirectional camera can be used to extract rich 3D information from indoor environments for robot mapping and localization. This paper presents an implementation of FastSLAM using 3D vertical edges retrieved from a range-augmented omnidirectional vision sensor. Our sensor model in conjunction with the FastSLAM algorithm solves the indoor Simultaneous Localization and Mapping problem. The real world experiment to validate our approach used a Pioneer-3DX mobile robot equipped with a URG-04LX laser range finder and an omnidirectional camera.

Idioma originalInglés
Título de la publicación alojada2011 IEEE International Conference on Computer Vision Workshops, ICCV Workshops 2011
Páginas280-287
Número de páginas8
DOI
EstadoPublicada - 2011
Publicado de forma externa
Evento2011 IEEE International Conference on Computer Vision Workshops, ICCV Workshops 2011 - Barcelona, Espana
Duración: 6 nov 201113 nov 2011

Serie de la publicación

NombreProceedings of the IEEE International Conference on Computer Vision

Conferencia

Conferencia2011 IEEE International Conference on Computer Vision Workshops, ICCV Workshops 2011
País/TerritorioEspana
CiudadBarcelona
Período6/11/1113/11/11

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