SLAM in indoor environments with stereo vision

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

doi:10.1109/IROS.2004.1389669

SLAM in indoor environments with stereo vision

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

Research output: A Conference proceeding or a Chapter in Book › Conference contribution › peer-review

22 Citations (Scopus)

85 Downloads (Pure)

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 language	English
Title of host publication	2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Publisher	IEEE, Institute of Electrical and Electronics Engineers
Pages	1866-1871
Number of pages	6
Volume	2
ISBN (Print)	0780384636
DOIs	https://doi.org/10.1109/IROS.2004.1389669
Publication status	Published - 2004
Externally published	Yes
Event	2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan Duration: 28 Sept 2004 → 2 Oct 2004

Conference

Conference	2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Country/Territory	Japan
City	Sendai
Period	28/09/04 → 2/10/04

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10.1109/IROS.2004.1389669

PaperFinal published version, 392 KB

Cite this

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title = "SLAM in indoor environments with stereo vision",

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.",

author = "Satoshi Takezawa and Herath, {D. C.} and G. Dissanayake",

year = "2004",

doi = "10.1109/IROS.2004.1389669",

language = "English",

isbn = "0780384636",

volume = "2",

pages = "1866--1871",

booktitle = "2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",

publisher = "IEEE, Institute of Electrical and Electronics Engineers",

address = "United States",

note = "2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) ; Conference date: 28-09-2004 Through 02-10-2004",

}

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, Institute of Electrical and Electronics Engineers, 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

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AU - Herath, D. C.

AU - Dissanayake, G.

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N2 - 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.

AB - 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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DO - 10.1109/IROS.2004.1389669

M3 - Conference contribution

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SN - 0780384636

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SP - 1866

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BT - 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

PB - IEEE, Institute of Electrical and Electronics Engineers

T2 - 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Y2 - 28 September 2004 through 2 October 2004

ER -

SLAM in indoor environments with stereo vision

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