A FastSLAM Algorithm for Omnivision

TítuloA FastSLAM Algorithm for Omnivision
AutoresC. Gamallo, M. Mucientes, C. V. Regueiro
TipoComunicación para congreso
Fonte XIII Workshop of Physical Agents 2012, Santiago de Compostela (Spain), Meubook, pp. 7-14 , 2012.
AbstractOmnidirectional 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
Palabras chaveSimultaneous Localization and Mapping; Fast-SLAM; Omnidirectional camera; Omnivision;

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