Title :
V-SLAM: Vision-based simultaneous localization and map building for an autonomous mobile robot
Author :
Savaria, Daniel T. ; Balasubramanian, Ramprasad
Author_Institution :
Univ. of Massachusetts Dartmouth, Dartmouth, MA, USA
Abstract :
Simultaneous localization and map building (SLAM) is a desired feature for autonomous mobile robots. This SLAM approach allows the robot to create a map on the fly and then backtrack to further explore the area without human interaction. Data from the robot´s encoder and sonar sensors are used along with depth information from a stereo camera vision system to explore and map the surroundings. The Speeded Up Robust Features algorithm (SURF) is used to visually identify landmarks in the environment.
Keywords :
SLAM (robots); cartography; mobile robots; robot vision; sensors; sonar imaging; stereo image processing; SURF algorithm; V-SLAM; autonomous mobile robot; map building; robot encoder; sonar sensor; speeded up robust feature algorithm; stereo camera vision system; vision based simultaneous localization; Cameras; Logic gates; Robot kinematics; Robot vision systems; Simultaneous localization and mapping; Sonar;
Conference_Titel :
Multisensor Fusion and Integration for Intelligent Systems (MFI), 2010 IEEE Conference on
Conference_Location :
Salt Lake City, UT
Print_ISBN :
978-1-4244-5424-2
DOI :
10.1109/MFI.2010.5604466
