Robot Localisation and Mapping with Stereo Vision
نویسنده
چکیده
This paper presents an approach to Simultaneous Localization and Mapping (SLAM) based on stereo vision. Standard stereo techniques are used to estimate 3D scene structure (point clouds). Point clouds at subsequent times are registered to estimate robot motion, and used to build a global environment map. Preliminary experimental results are also presented and discussed. Key-Words: Robot localisation, Mapping, Stereo vision, SLAM
منابع مشابه
Visual Odometry for Robust Rover Navigation by Binocular Stereo
This work deals with the problem of estimating the trajectory of an autonomous rover by passive stereo vision only (visual odometry). The proposed method relies on the tracking of pointwise image features and on the estimation of the robot motion by robust bundle adjustment of the stereo matched features, before and after the motion. Preliminary results from the application of the algorithm bot...
متن کاملSimultaneous Localisation and Map-Building Using Active Vision
Abstract— An active approach to sensing can provide the focused measurement capability over a wide field of view which allows correctly formulated Simultaneous Localisation and Map-Building (SLAM) to be implemented with vision, permitting repeatable long-term localisation using only naturally occurring, automatically-detected features. In this paper we present the first example of a general sys...
متن کاملSimulation of a 3D Vision-Based Robotic System
The objective of this research is to build a vision-based closed-loop control system for autonomous robots operating in nuclear decommissioning tasks. This presents an exceedingly challenging problem, namely vision-based localisation and path planning in previously unknown environments. We approach the problem by taking advantage of existing computer vision techniques. The approach is based on ...
متن کاملBehavior Based Robot Localisation Using Stereo Vision
Accurate robot detection and localisation is fundamental in applications which involve robot navigation. Typical methods for robot detection require a model of a robot. However in most applications the availability of such model can not be warranted. This paper discusses a different approach. A method is presented to localise the robot in a complex and dynamic scene based only on the informatio...
متن کامل3D Simultaneous Localisation and Map-Building Using Active Vision for a Robot Moving on Undulating Terrain - Media File Included
Work in simultaneous localisation and map-building (“SLAM”) for mobile robots has focused on the simplified case in which a robot is considered to move in two dimensions on a ground plane. While this is often a good approximation, a large number of real-world applications require robots to move around terrain which has significant slopes and undulations, and it is desirable that these robots to...
متن کامل