The SLAM algorithm of mobile robot with omnidirectional vision based on EKF

Author

Wang, Kaiyu ; Xia, Guihua ; Zhu, Qidan ; Yu, Yongtao ; Wu, Yebin ; Wang, Yan

Author_Institution

Dept. of Autom., Harbin Eng. Univ., Harbin, China

fYear

2012

fDate

6-8 June 2012

Firstpage

13

Lastpage

18

Abstract

An improved simultaneous localization and mapping(SLAM) method based on extended Kalman filter(EKF) is presented to solve the SLAM problem of mobile robot with omnidirectional vision. The environment feature is extracted from the environment information around the mobile robot got by onmidirectional vision, then the landmark is located, finally, the position and attitude of the mobile robot and the map library are updated synchronously by using the EKF algorithm. Simulation results and real robot experiment results indicate the effectiveness and accuracy of the proposed approach.

Keywords

Kalman filters; SLAM (robots); computer vision; feature extraction; mobile robots; EKF; SLAM algorithm; environment information; extended Kalman filter; feature extraction; landmark detection; map library; mobile robot; omnidirectional vision; simultaneous localization and mapping; Kalman filters; Mathematical model; Mobile robots; Robot kinematics; Simultaneous localization and mapping; EKF (extended Kalman filter); SLAM (simultaneous localization and mapping); mobile robot; omnidirectional vision;

fLanguage

English

Publisher

ieee

Conference_Titel

Information and Automation (ICIA), 2012 International Conference on

Conference_Location

Shenyang

Print_ISBN

978-1-4673-2238-6

Electronic_ISBN

978-1-4673-2236-2

Type

conf

DOI

10.1109/ICInfA.2012.6246774

Filename

6246774