TY - GEN
T1 - Upward monocular camera based SLAM using corner and door features
AU - Hwang, Seo Yeon
AU - Song, Jae Bok
N1 - Funding Information:
This paper was performed for the Intelligent Robotics Development Program, one of the 21st Century Frontier R&D Programs funded by the Ministry of Commerce, Industry and Energy of Korea.
Copyright:
Copyright 2013 Elsevier B.V., All rights reserved.
PY - 2008
Y1 - 2008
N2 - 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.
AB - 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.
KW - Life care intelligent robot
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U2 - 10.3182/20080706-5-KR-1001.2849
DO - 10.3182/20080706-5-KR-1001.2849
M3 - Conference contribution
AN - SCOPUS:79961020124
SN - 9783902661005
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
BT - Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
T2 - 17th World Congress, International Federation of Automatic Control, IFAC
Y2 - 6 July 2008 through 11 July 2008
ER -