Title :
Visual odometer system to build feature based maps for mobile robot navigation
Author :
Majdik, Andras L. ; Tamas, Levente ; Popa, Mircea ; Szoke, Istvan ; Lazea, Gheorghe
Author_Institution :
Robotic Res. Group, Tech. Univ. Cluj-Napoca, Cluj-Napoca, Romania
Abstract :
This paper presents a visual odometer system for mobile robot position correction. The developed algorithm detects the same Speeded Up Robust Features (SURF) on the stereo pair images to obtain three dimensional point clouds at every robot location. The algorithm tracks the displacement of the identical features viewed from different positions to compute the robots positions. The displacements between the point clouds are computed with the use of the Iterative Closest Point (ICP) algorithm. The ICP is used also to register the landmarks in the feature based map of the entire environment. The results of an indoor office environment experiments are shown.
Keywords :
distance measurement; iterative methods; mobile robots; path planning; robot vision; stereo image processing; feature based maps; iterative closest point algorithm; mobile robot navigation; mobile robot position correction; robot location; speeded up robust features; stereo pair images; visual odometer system; Clouds; Feature extraction; Iterative closest point algorithm; Mobile robots; Robot kinematics; Visualization;
Conference_Titel :
Control & Automation (MED), 2010 18th Mediterranean Conference on
Conference_Location :
Marrakech
Print_ISBN :
978-1-4244-8091-3
DOI :
10.1109/MED.2010.5547630