TY - GEN
T1 - CV-SLAM using ceiling boundary
AU - Choi, Hyukdoo
AU - Kim, Dong Yeop
AU - Hwang, Jae Pil
AU - Kim, Euntai
AU - Kim, Young Ouk
PY - 2010
Y1 - 2010
N2 - This paper deals with simultaneous localization and mapping(SLAM) problem for a mobile robot that travels around the indoor environments. A single camera looking up the ceiling is used as the only sensor. Line features are extracted from the boundaries between the ceiling and walls and parameterized for SLAM update. Extended Kalman Filter(EKF) is used for simultaneously estimating the current robot pose and building a map with the line features. When the robot is kidnapped, Monte Carlo Localization(MCL) is used for finding the robot pose. To improve the localization performance, the resampling method is modified. The experiment is practiced in our indoor test bed and the proposed algorithms are proved by the experimental results.
AB - This paper deals with simultaneous localization and mapping(SLAM) problem for a mobile robot that travels around the indoor environments. A single camera looking up the ceiling is used as the only sensor. Line features are extracted from the boundaries between the ceiling and walls and parameterized for SLAM update. Extended Kalman Filter(EKF) is used for simultaneously estimating the current robot pose and building a map with the line features. When the robot is kidnapped, Monte Carlo Localization(MCL) is used for finding the robot pose. To improve the localization performance, the resampling method is modified. The experiment is practiced in our indoor test bed and the proposed algorithms are proved by the experimental results.
UR - http://www.scopus.com/inward/record.url?scp=77956034943&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77956034943&partnerID=8YFLogxK
U2 - 10.1109/ICIEA.2010.5516788
DO - 10.1109/ICIEA.2010.5516788
M3 - Conference contribution
AN - SCOPUS:77956034943
SN - 9781424450466
T3 - Proceedings of the 2010 5th IEEE Conference on Industrial Electronics and Applications, ICIEA 2010
SP - 228
EP - 233
BT - Proceedings of the 2010 5th IEEE Conference on Industrial Electronics and Applications, ICIEA 2010
T2 - 5th IEEE Conference on Industrial Electronics and Applications, ICIEA 2010
Y2 - 15 June 2010 through 17 June 2010
ER -