Stable monocular SLAM with indistinguishable features on estimated ceiling plane using upward camera

Seo Yeon Hwang, Jae Bok Song

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

This paper deals with monocular SLAM of a mobile robot in an indoor environment where visually similar features (so-called indistinguishable features) exist on the ceiling. When these indistinguishable features exist near a feature, data association suffers from false matches which lead to localization failure. To reliably estimate the robot pose in various environments, the proposed scheme uses the additional information on whether the features are easily distinguishable (unique) or not. Then, a ceiling plane is estimated by the heights of the unique features to find the positions of the indistinguishable features approximately. Reliable data association is done by registering the indistinguishable features on the ceiling plane with small uncertainty regions which prevent the false matches. After this preprocess step, the data association results are used within the extended Kalman filter to estimate the robot pose. Corners and lamps are used as features in the experiments, and the results show that the proposed method successfully works in various indoor environments including indistinguishable features.

Original languageEnglish
Title of host publication2008 International Conference on Control, Automation and Systems, ICCAS 2008
Pages704-709
Number of pages6
DOIs
Publication statusPublished - 2008
Event2008 International Conference on Control, Automation and Systems, ICCAS 2008 - Seoul, Korea, Republic of
Duration: 2008 Oct 142008 Oct 17

Publication series

Name2008 International Conference on Control, Automation and Systems, ICCAS 2008

Other

Other2008 International Conference on Control, Automation and Systems, ICCAS 2008
CountryKorea, Republic of
CitySeoul
Period08/10/1408/10/17

Keywords

  • Ceiling
  • Mobile robot
  • Monocular SLAM
  • Upward camera

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • Cite this

    Hwang, S. Y., & Song, J. B. (2008). Stable monocular SLAM with indistinguishable features on estimated ceiling plane using upward camera. In 2008 International Conference on Control, Automation and Systems, ICCAS 2008 (pp. 704-709). [4694592] (2008 International Conference on Control, Automation and Systems, ICCAS 2008). https://doi.org/10.1109/ICCAS.2008.4694592