SLAM for mobile robot based on interactive GUI

Author

Jia, Songmin ; Yang, Hao ; Li, Xiuzhi ; Fu, Wei

Author_Institution

Coll. of Electron. Inf. & Control Eng., Beijing Univ. of Technol., Beijing, China

fYear

2010

fDate

4-7 Aug. 2010

Firstpage

1308

Lastpage

1313

Abstract

As we all know that, SLAM (Simultaneous Localization and Mapping) are vital for mobile robot. This paper presents a method of map building using interactive GUI (Graphical User Interface) for an indoor service mobile robot because of the uncertainty of the sensors. What´s more, the operator can modify the map compared with the real-time video from the web camera of the mobile robot. In the proposed system, EKF (Extended Kalman Filter) was used to improve the precision of self-localization of the mobile robot. This paper also introduces the architecture of the proposed system and gives some experimental results.

Keywords

Kalman filters; SLAM (robots); control engineering computing; graphical user interfaces; mobile robots; SLAM; extended Kalman filter; graphical user interface; indoor service mobile robot; interactive GUI; map building; mobile robot self-localization; real-time video; simultaneous localization and mapping; Algorithm design and analysis; Buildings; Fitting; Graphical user interfaces; Kalman filters; Mobile robots; Sensors; Data processing; LRF; map building; mobile robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation (ICMA), 2010 International Conference on

Conference_Location

Xi´an

ISSN

2152-7431

Print_ISBN

978-1-4244-5140-1

Electronic_ISBN

2152-7431

Type

conf

DOI

10.1109/ICMA.2010.5588080

Filename

5588080