SLAM in indoor environments with stereo vision

Satoshi Takezawa, D. C. Herath, G. Dissanayake

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

22 Citations (Scopus)

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.

Original languageEnglish
Title of host publication2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
PublisherIEEE
Pages1866-1871
Number of pages6
Volume2
ISBN (Print)0780384636
DOIs
Publication statusPublished - 2004
Externally publishedYes
Event2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan
Duration: 28 Sep 20042 Oct 2004

Conference

Conference2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
CountryJapan
CitySendai
Period28/09/042/10/04

Fingerprint

Stereo vision
Robots
Cameras
Experiments

Cite this

Takezawa, S., Herath, D. C., & Dissanayake, G. (2004). SLAM in indoor environments with stereo vision. In 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (Vol. 2, pp. 1866-1871). IEEE. https://doi.org/10.1109/IROS.2004.1389669
Takezawa, Satoshi ; Herath, D. C. ; Dissanayake, G. / SLAM in indoor environments with stereo vision. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Vol. 2 IEEE, 2004. pp. 1866-1871
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Takezawa, S, Herath, DC & Dissanayake, G 2004, SLAM in indoor environments with stereo vision. in 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). vol. 2, IEEE, pp. 1866-1871, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sendai, Japan, 28/09/04. https://doi.org/10.1109/IROS.2004.1389669

SLAM in indoor environments with stereo vision. / Takezawa, Satoshi; Herath, D. C.; Dissanayake, G.

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Vol. 2 IEEE, 2004. p. 1866-1871.

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

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Takezawa S, Herath DC, Dissanayake G. SLAM in indoor environments with stereo vision. In 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Vol. 2. IEEE. 2004. p. 1866-1871 https://doi.org/10.1109/IROS.2004.1389669