Congress 759
  • C. Gamallo, M. Mucientes, C. V. Regueiro
  • XIII Workshop of Physical Agents 2012. Santiago de Compostela, Spain. 2012
Research Areas

A FastSLAM Algorithm for Omnivision

Omnidirectional cameras have a wide field of view, which makes them specially suitable for Simultaneous Localization and Mapping (SLAM) tasks. In this paper, we present a proposal for SLAM based on the well-known FastSLAM algorithm [1]. Our approach uses omnivision to detect the lights placed on the ceiling of indoor environments. As the sensor is bearing-only and the landmarks are indistinguishable among each other, the proposal includes a hierarchical data association method based on maximum likelihood and a delayed initialization of the landmarks. The proposal has been tested on a real environment with a Pioneer 3-DX robot
Keywords: Simultaneous Localization and Mapping, Fast-SLAM, Omnidirectional camera, Omnivision;
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