![](/images/graphics-bg.png)
Method for SLAM Based on Omnidirectional Vision: A Delayed-EKF Approach
Joint Authors
Munguía, Rodrigo
López-Franco, Carlos
Nuño, Emmanuel
López-Franco, Adriana
Source
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-14, 14 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-02-19
Country of Publication
Egypt
No. of Pages
14
Main Subjects
Abstract EN
This work presents a method for implementing a visual-based simultaneous localization and mapping (SLAM) system using omnidirectional vision data, with application to autonomous mobile robots.
In SLAM, a mobile robot operates in an unknown environment using only on-board sensors to simultaneously build a map of its surroundings, which it uses to track its position.
The SLAM is perhaps one of the most fundamental problems to solve in robotics to build mobile robots truly autonomous.
The visual sensor used in this work is an omnidirectional vision sensor; this sensor provides a wide field of view which is advantageous in a mobile robot in an autonomous navigation task.
Since the visual sensor used in this work is monocular, a method to recover the depth of the features is required.
To estimate the unknown depth we propose a novel stochastic triangulation technique.
The system proposed in this work can be applied to indoor or cluttered environments for performing visual-based navigation when GPS signal is not available.
Experiments with synthetic and real data are presented in order to validate the proposal.
American Psychological Association (APA)
Munguía, Rodrigo& López-Franco, Carlos& Nuño, Emmanuel& López-Franco, Adriana. 2017. Method for SLAM Based on Omnidirectional Vision: A Delayed-EKF Approach. Journal of Sensors،Vol. 2017, no. 2017, pp.1-14.
https://search.emarefa.net/detail/BIM-1187327
Modern Language Association (MLA)
Munguía, Rodrigo…[et al.]. Method for SLAM Based on Omnidirectional Vision: A Delayed-EKF Approach. Journal of Sensors No. 2017 (2017), pp.1-14.
https://search.emarefa.net/detail/BIM-1187327
American Medical Association (AMA)
Munguía, Rodrigo& López-Franco, Carlos& Nuño, Emmanuel& López-Franco, Adriana. Method for SLAM Based on Omnidirectional Vision: A Delayed-EKF Approach. Journal of Sensors. 2017. Vol. 2017, no. 2017, pp.1-14.
https://search.emarefa.net/detail/BIM-1187327
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1187327