SLAM in indoor environments with stereo vision

Takezawa, S; Herath, DC; Dissanayake, G

SLAM in indoor environments with stereo vision

Takezawa, S Herath, DC Dissanayake, G

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Publication Type:: Conference Proceeding
Citation:: 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2004, 2 pp. 1866 - 1871
Issue Date:: 2004-12-01

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Field	Value	Language
dc.contributor.author	Takezawa, S	en_US
dc.contributor.author	Herath, DC	en_US
dc.contributor.author	Dissanayake, G https://orcid.org/0000-0002-7992-0680	en_US
dc.date.issued	2004-12-01	en_US
dc.identifier.citation	2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2004, 2 pp. 1866 - 1871	en_US
dc.identifier.isbn	0780384636	en_US
dc.identifier.uri	http://hdl.handle.net/10453/2664
dc.description.abstract	This paper proposes a method for simultaneous localisation and mapping (SLAM) in an indoor environment using stereo vision. Specially designed artificial landmarks distributed in the environment are observed and extracted from a camera image. The disparity map obtained from the stereo vision system is used to obtain the ranges to these landmarks. The main contribution of the paper is the formulation of the mathematical framework for SLAM for a robot moving on a planar surface among landmarks distributed in three dimensional space. The paper also presents the results of experiments conducted using a Pioneer robot and a Triclops stereo vision system. It is demonstrated that accurate robot and feature locations can be obtained using the proposed technique.	en_US
dc.relation.ispartof	2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)	en_US
dc.title	SLAM in indoor environments with stereo vision	en_US
dc.type	Conference Proceeding
utslib.citation.volume	2	en_US
utslib.for	091007 Manufacturing Robotics and Mechatronics (excl. Automotive Mechatronics)	en_US
utslib.for	091303 Autonomous Vehicles	en_US
dc.location.activity	Sendai, Japan	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US
pubs.volume	2	en_US

Abstract:

This paper proposes a method for simultaneous localisation and mapping (SLAM) in an indoor environment using stereo vision. Specially designed artificial landmarks distributed in the environment are observed and extracted from a camera image. The disparity map obtained from the stereo vision system is used to obtain the ranges to these landmarks. The main contribution of the paper is the formulation of the mathematical framework for SLAM for a robot moving on a planar surface among landmarks distributed in three dimensional space. The paper also presents the results of experiments conducted using a Pioneer robot and a Triclops stereo vision system. It is demonstrated that accurate robot and feature locations can be obtained using the proposed technique.

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http://hdl.handle.net/10453/2664