Global mapping and localization for mobile robots using stereo vision

Author

Hadda, Imed ; Knani, Jilani

Author_Institution

Unite de Rech. LARA-Autom., Ecole Nat. d´Ing. de Tunis, Tunis, Tunisia

fYear

2013

fDate

18-21 March 2013

Firstpage

1

Lastpage

6

Abstract

An autonomous navigation system for a mobile robot is able to build a map and localize in an unknown environment. Through this paper we present our method for mapping and localization of mobile robots using stereo vision. For mapping we used the hybrid card, consisting of nodes and arcs. Construction of a node is composed by extracting SIFT points and calculates their space projections for depth information. Arcs are the connections between the nodes i.e. the distance in the plane between the nodes to each other and they are calculated using odometry. Based on this mapping we used a method based on singular value decomposition for global localization. The results of our experimental test showed the validation of our method on mapping and localization of mobile robots based on stereo vision.

Keywords

SLAM (robots); distance measurement; feature extraction; mobile robots; path planning; robot vision; singular value decomposition; stereo image processing; transforms; SIFT point extraction; autonomous navigation system; depth information; global localization; global mapping; hybrid card; mobile robots; odometry; singular value decomposition; space projections; stereo vision; Feature extraction; Measurement; Mobile robots; Robot kinematics; Robot sensing systems; Vectors; Global localization; Mobile robot; Stereo vision;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Signals & Devices (SSD), 2013 10th International Multi-Conference on

Conference_Location

Hammamet

Print_ISBN

978-1-4673-6459-1

Electronic_ISBN

978-1-4673-6458-4

Type

conf

DOI

10.1109/SSD.2013.6564130

Filename

6564130