Congress 795
  • C. Gamallo, M. Mucientes, C. Regueiro
  • Towards Autonomous Robotic Systems 2009. Ulster, United Kingdom. 2009
Research Areas

Visual FastSLAM Through Omnivision

Simultaneous Localization and Mapping (SLAM) is still an open problem in mobile robotics. In this paper a SLAM algorithm using omnivision is presented. Omnidirectional cameras have a wide field of view, thus detecting landmarks over long distances, but this also requires a good data association. Our SLAM proposal is based on the well-known FastSLAM algorithm [1]. Our main contributions are the features detection and their position estimation for an omnidirectional camera (bearing-only sensor), and also the data association process based on the Hungarian algorithm. The system has been tested on a Pioneer 3-DX robot equipped with an omnidirectional camera (a camera with a fish-eye lens) and a passband infrared filter. Experiments were carried out in an exposition hall of a museum, showing a good performance, despite the uneven floor which generates a swinging on the camera and increases the error in the motion commands
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