Stereo AoA system for indoor SLAM

Author

Hee-Joong Kim ; Jihong Lee

Author_Institution

Dept. of Mechatron. Eng., Chungnam Nat. Univ., Daejeon, South Korea

fYear

2013

fDate

20-23 Oct. 2013

Firstpage

1164

Lastpage

1169

Abstract

In this paper, we address two systems composed of ODVS(Omni-directional Vision Sensor) for localizing mobile robots in indoor environments. One, with single AoA(Angle of Arrival) system, needs at least three landmarks of predefined location while the other, called stereo AoA system, requires only one landmark of known location for localization. For identifying the landmarks, image processing techniques are applied to omni-directional image to get colored information that is main features of indoor environments. The final goal of this research is to build up local map autonomously by image processing in indoor environments using lines on the image sequences. Through several experiments with the system, we confirmed the feasibility of the system for map building.

Keywords

SLAM (robots); image colour analysis; image sensors; image sequences; mobile robots; robot vision; stereo image processing; visual perception; Angle of Arrival system; ODVS; colored information; image sequences; indoor SLAM; indoor environments; map building; mobile robot localisation; omni directional vision sensor; omnidirectional image; processing techniques; stereo AoA system; Accuracy; Buildings; Estimation; Simultaneous localization and mapping; Tin; ODVS; Stereo AoA system; indoor mobile robots; localization; map building; single AoA system;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Systems (ICCAS), 2013 13th International Conference on

Conference_Location

Gwangju

ISSN

2093-7121

Print_ISBN

978-89-93215-05-2

Type

conf

DOI

10.1109/ICCAS.2013.6704094

Filename

6704094