DocumentCode
2642052
Title
Environmental mapping for mobile robot by tracking SIFT feature Points using trinocular vision
Author
Ogawa, Yoko ; Shimada, Nobutaka ; Shirai, Yoshiaki
Author_Institution
Ritsumeikan Univ., Shiga
fYear
2007
fDate
17-20 Sept. 2007
Firstpage
1996
Lastpage
2001
Abstract
This paper presents a SIFT based map building and self localization method for mobile robots. First a mapping robot with trinocular vision builds the 3-D keypoint map of unknown environment with a high accuracy and then the working robot with a monocular vision localize the own position by matching the SIFT keypoints to the map. Experimental results of mapping and localization for a real indoor scene is shown.
Keywords
mobile robots; path planning; robot vision; environmental mapping; mapping robot; mobile robot; monocular vision; self localization method; trinocular vision; Computational efficiency; Layout; Machine vision; Mobile robots; Motion measurement; Navigation; Orbital robotics; Robot kinematics; Robot vision systems; Robotics and automation; Kalman filter; Map building; Robot navigation; SIFT;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE, 2007 Annual Conference
Conference_Location
Takamatsu
Print_ISBN
978-4-907764-27-2
Electronic_ISBN
978-4-907764-27-2
Type
conf
DOI
10.1109/SICE.2007.4421314
Filename
4421314
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