Map building for a service mobile robot using interactive GUI

Author

Jia, Songmin ; Yasuda, Akira ; Chugo, Daisuke ; Takase, Kunikatsu

Author_Institution

Grad. Sch. of Inf. Syst., Univ. of Electro-Commun., Chofu

fYear

2008

fDate

20-23 June 2008

Firstpage

119

Lastpage

124

Abstract

This paper presents a method of map building using interactive GUI for an indoor service mobile robot. The reason we proposed this method is that it is difficult for a mobile robot to generate an accurate map although many kinds of sensors are used. In proposed system, the operator can modify map built by LRF and odometry, compared with the real-time video from web camera using modification tool in developed interactive GUI. In order to improve self-localization of mobile robot, extended Kalman filter (EKF) was used. This paper introduces the architecture of the proposed system and gives some experimental results.

Keywords

Kalman filters; control engineering computing; graphical user interfaces; interactive systems; mobile robots; robot vision; service robots; EKF; LRF; extended Kalman filter; graphical user interfaces; indoor service mobile robot; interactive GUI; map building; web camera; Cameras; Communication system control; Data processing; Graphical user interfaces; Mobile robots; Optical control; Robot control; Robot vision systems; Robotics and automation; Wheels; Extended Kalman Filter; LRF; Map building; interactive GUI; mobile robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Information and Automation, 2008. ICIA 2008. International Conference on

Conference_Location

Changsha

Print_ISBN

978-1-4244-2183-1

Electronic_ISBN

978-1-4244-2184-8

Type

conf

DOI

10.1109/ICINFA.2008.4607979

Filename

4607979