Upward monocular camera based SLAM using corner and door features

Seo Yeon Hwang, Jae-Bok Song

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

11 Citations (Scopus)

Abstract

Small-size robots usually employ cheap sensors for navigation instead of expensive laser scanners or stereo cameras. This paper deals with the SLAM process using a monocular camera which heads upward to see the ceiling and the upper portion of a wall. This upward camera has some advantages of being free of dynamic obstacles, the fixed distance to the ceiling and so on. Most past research based on an upward camera used corner features for localization, which are not always extracted in an indoor environment. In this research, however, door features are added to overcome this difficulty involved in SLAM using the corner features only. A door helps not only to estimate the pose of a robot, but also to divide the environment into several meaningful areas. A particle filter is adopted to estimate the door position to check whether the specific door is suitable for the SLAM process before registering it in the EKF algorithm. Experimental results show that the proposed scheme works successfully in various indoor environments.

Original languageEnglish
Title of host publicationIFAC Proceedings Volumes (IFAC-PapersOnline)
Volume17
Edition1 PART 1
DOIs
Publication statusPublished - 2008 Dec 1
Event17th World Congress, International Federation of Automatic Control, IFAC - Seoul, Korea, Republic of
Duration: 2008 Jul 62008 Jul 11

Other

Other17th World Congress, International Federation of Automatic Control, IFAC
CountryKorea, Republic of
CitySeoul
Period08/7/608/7/11

Fingerprint

Cameras
Ceilings
Robots
Navigation
Lasers
Sensors

Keywords

  • Life care intelligent robot

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Hwang, S. Y., & Song, J-B. (2008). Upward monocular camera based SLAM using corner and door features. In IFAC Proceedings Volumes (IFAC-PapersOnline) (1 PART 1 ed., Vol. 17) https://doi.org/10.3182/20080706-5-KR-1001.2849

Upward monocular camera based SLAM using corner and door features. / Hwang, Seo Yeon; Song, Jae-Bok.

IFAC Proceedings Volumes (IFAC-PapersOnline). Vol. 17 1 PART 1. ed. 2008.

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

Hwang, SY & Song, J-B 2008, Upward monocular camera based SLAM using corner and door features. in IFAC Proceedings Volumes (IFAC-PapersOnline). 1 PART 1 edn, vol. 17, 17th World Congress, International Federation of Automatic Control, IFAC, Seoul, Korea, Republic of, 08/7/6. https://doi.org/10.3182/20080706-5-KR-1001.2849
Hwang SY, Song J-B. Upward monocular camera based SLAM using corner and door features. In IFAC Proceedings Volumes (IFAC-PapersOnline). 1 PART 1 ed. Vol. 17. 2008 https://doi.org/10.3182/20080706-5-KR-1001.2849
Hwang, Seo Yeon ; Song, Jae-Bok. / Upward monocular camera based SLAM using corner and door features. IFAC Proceedings Volumes (IFAC-PapersOnline). Vol. 17 1 PART 1. ed. 2008.
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