Title :
Bearing only FastSLAM using vertical line information from an omnidirectional camera
Author :
Wongphati, Mahisorn ; Niparnan, Nattee ; Sudsang, Attawith
Author_Institution :
Dept. of Comput. Eng., Chulalongkorn Univ., Bangkok
Abstract :
This paper proposes an implementation of Fast-SLAM for localization and mapping for an indoor environment. The system use only the bearing information retrieved from an omnidirectional camera via vertical line segments which are common in an indoor environment. The real world experiment is also presented using Pioneer-DX3 mobile robot moving in a room with several objects.
Keywords :
SLAM (robots); image sensors; information retrieval; mobile robots; Fast-SLAM; Pioneer-DX3 mobile robot; bearing information retrieval; omnidirectional camera; vertical line information; Biomimetics; Cameras; Humans; Indoor environments; Machine vision; Mobile robots; Position measurement; Robot sensing systems; Robot vision systems; Simultaneous localization and mapping; Omnidirectional camera; SLAM; localization; mapping; mobile robot;
Conference_Titel :
Robotics and Biomimetics, 2008. ROBIO 2008. IEEE International Conference on
Conference_Location :
Bangkok
Print_ISBN :
978-1-4244-2678-2
Electronic_ISBN :
978-1-4244-2679-9
DOI :
10.1109/ROBIO.2009.4913169
