Simultaneous localisation and mapping

A stereo vision based approach

D. C. Herath, Sarath Kodagoda, Gamini Dissanayake

Research output: A Conference proceeding or a Chapter in BookConference contribution

10 Citations (Scopus)

Abstract

With limited dynamic range and poor noise performance, cameras still pose considerable challenges in the application of range sensors in the context of robotic navigation, especially in the implementation of Simultaneous Localisation and Mapping (SLAM) with sparse features. This paper presents a combination of methods in solving the SLAM problem in a constricted indoor environment using small baseline stereo vision. Main contributions include a feature selection and tracking algorithm, a stereo noise filter, a robust feature validation algorithm and a multiple hypotheses adaptive window positioning method in 'closing the loop'. These methods take a novel approach in that information from the image processing and robotic navigation domains are used in tandem to augment each other. Experimental results including a real-time implementation in an office-like environment are also presented.

Original languageEnglish
Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Place of PublicationUnited States
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages922-927
Number of pages6
ISBN (Print)9781424402595
DOIs
Publication statusPublished - 2006
Externally publishedYes
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, Beijing, China
Duration: 9 Oct 200615 Oct 2006

Conference

Conference2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
CountryChina
CityBeijing
Period9/10/0615/10/06

Fingerprint

Stereo vision
Navigation
Robotics
Feature extraction
Image processing
Cameras
Sensors

Cite this

Herath, D. C., Kodagoda, S., & Dissanayake, G. (2006). Simultaneous localisation and mapping: A stereo vision based approach. In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 (pp. 922-927). [4058480] United States: IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/IROS.2006.281749
Herath, D. C. ; Kodagoda, Sarath ; Dissanayake, Gamini. / Simultaneous localisation and mapping : A stereo vision based approach. 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006. United States : IEEE, Institute of Electrical and Electronics Engineers, 2006. pp. 922-927
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Herath, DC, Kodagoda, S & Dissanayake, G 2006, Simultaneous localisation and mapping: A stereo vision based approach. in 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006., 4058480, IEEE, Institute of Electrical and Electronics Engineers, United States, pp. 922-927, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006, Beijing, China, 9/10/06. https://doi.org/10.1109/IROS.2006.281749

Simultaneous localisation and mapping : A stereo vision based approach. / Herath, D. C.; Kodagoda, Sarath; Dissanayake, Gamini.

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006. United States : IEEE, Institute of Electrical and Electronics Engineers, 2006. p. 922-927 4058480.

Research output: A Conference proceeding or a Chapter in BookConference contribution

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Herath DC, Kodagoda S, Dissanayake G. Simultaneous localisation and mapping: A stereo vision based approach. In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006. United States: IEEE, Institute of Electrical and Electronics Engineers. 2006. p. 922-927. 4058480 https://doi.org/10.1109/IROS.2006.281749