Title :
Stereo AoA system for indoor SLAM
Author :
Hee-Joong Kim ; Jihong Lee
Author_Institution :
Dept. of Mechatron. Eng., Chungnam Nat. Univ., Daejeon, South Korea
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;
Conference_Titel :
Control, Automation and Systems (ICCAS), 2013 13th International Conference on
Conference_Location :
Gwangju
Print_ISBN :
978-89-93215-05-2
DOI :
10.1109/ICCAS.2013.6704094
