![](/images/graphics-bg.png)
Robotic Mapping and Localization with Real-Time Dense Stereo on Reconfigurable Hardware
Joint Authors
Source
International Journal of Reconfigurable Computing
Issue
Vol. 2010, Issue 2010 (31 Dec. 2010), pp.1-17, 17 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2011-02-20
Country of Publication
Egypt
No. of Pages
17
Main Subjects
Information Technology and Computer Science
Abstract EN
A reconfigurable architecture for dense stereo is presented as an observation framework for a real-time implementation of the simultaneous localization and mapping problem in robotics.
The reconfigurable sensor detects point features from stereo image pairs to use at the measurement update stage of the procedure.
The main hardware blocks are a dense depth stereo accelerator, a left and right image corner detector, and a stage performing left-right consistency check.
For the stereo-processor stage, we have implemented and tested a global-matching component based on a maximum-likelihood dynamic programming technique.
The system includes a Nios II processor for data control and a USB 2.0 interface for host communication.
Remote control is used to guide a vehicle equipped with a stereo head in an indoor environment.
The FastSLAM Bayesian algorithm is applied in order to track and update observations and the robot path in real time.
The system is assessed using real scene depth detection and public reference data sets.
The paper also reports resource usage and a comparison of mapping and localization results with ground truth.
American Psychological Association (APA)
Kalomiros, John& Lygouras, John. 2011. Robotic Mapping and Localization with Real-Time Dense Stereo on Reconfigurable Hardware. International Journal of Reconfigurable Computing،Vol. 2010, no. 2010, pp.1-17.
https://search.emarefa.net/detail/BIM-474864
Modern Language Association (MLA)
Kalomiros, John& Lygouras, John. Robotic Mapping and Localization with Real-Time Dense Stereo on Reconfigurable Hardware. International Journal of Reconfigurable Computing No. 2010 (2010), pp.1-17.
https://search.emarefa.net/detail/BIM-474864
American Medical Association (AMA)
Kalomiros, John& Lygouras, John. Robotic Mapping and Localization with Real-Time Dense Stereo on Reconfigurable Hardware. International Journal of Reconfigurable Computing. 2011. Vol. 2010, no. 2010, pp.1-17.
https://search.emarefa.net/detail/BIM-474864
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-474864