Scan-matching Based 6DOF SLAM Using Omnidirectional Stereo
نویسندگان
چکیده
Simultaneous localization and mapping (SLAM) of working environments is one of the important problems in mobile robotics. For the problem, we present a new method using an omnidirectional stereo system. By using 3D range information obtained from the omnidirectional stereo, we construct scan-matching based extended Kalman filter SLAM(EKF-SLAM) system. In the system, the output of the piecewise iterative closest point(ICP) algorithm is used as the observation of the EKF. The global consistency of the robot trajectory is kept by a loop closing method based on the Kalman smoothing. Experimental results of the method are shown for a simulated environment.
منابع مشابه
A Performance Analysis of Omnidirectional Vision Based Simultaneous Localization and Mapping
This paper presents a performance analysis of omnidirectional vision based Simultaneous Localization and Mapping (SLAM). In omnidirectional vision based SLAM; robots perform vision based SLAM using only monocular omnidirectional cameras. In this paper, we mainly investigate the use of an omnidirectional camera for Extended Kalman Filter (EKF) based SLAM. To evaluate the success of omnidirection...
متن کاملIMLS-SLAM: scan-to-model matching based on 3D data
The Simultaneous Localization And Mapping (SLAM) problem has been well studied in the robotics community, especially using mono, stereo cameras or depth sensors. 3D depth sensors, such as Velodyne LiDAR, have proved in the last 10 years to be very useful to perceive the environment in autonomous driving, but few methods exist that directly use these 3D data for odometry. We present a new low-dr...
متن کامل6DOF SLAM with Stereo-in-hand
In this paper we describe a system that carries out SLAM using a stereo pair moving with 6DOF as the only sensor. Textured point features are extracted from the images and stored as 3D points if seen in both images with sufficient disparity, or stored as inverse 3D points otherwise. This allows the system to make use of both near and far features that provide distance and orientation, or orient...
متن کاملOn-Board Dual-Stereo-Vision for the Navigation of an Autonomous MAV
We present a quadrotor Micro Aerial Vehicle (MAV) equipped with four cameras, which are arranged in two stereo configurations. The MAV is able to perform stereo matching for each camera pair on-board and in real-time, using an efficient sparse stereo method. In case of the camera pair that is facing forward, the stereo matching results are used for a reduced stereo SLAM system. The other camera...
متن کاملStereo Image Point Cloud and Lidar Point Cloud Fusion for the 3d Street Mapping
Combining active and passive imaging sensors enables creating a more detailed 3D model of the real world. Then, these 3D data can be used for various applications, such as city mapping, indoor navigation, autonomous vehicles, etc. Typically, LiDAR and camera as imaging sensors are installed on these systems. Both of these sensors have advantages and drawbacks. Thus, LiDAR sensor directly provid...
متن کامل