Using a RGB-D camera for 6DoF SLAM

Please use this identifier to cite or link to this item:
Información del item - Informació de l'item - Item information
Title: Using a RGB-D camera for 6DoF SLAM
Authors: Muñoz, Jose L. | Pastor, Daniel | Gil, Pablo | Puente Méndez, Santiago T. | Cazorla, Miguel
Research Group/s: Automática, Robótica y Visión Artificial | Robótica y Visión Tridimensional (RoViT)
Center, Department or Service: Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal | Universidad de Alicante. Departamento de Ciencia de la Computación e Inteligencia Artificial
Keywords: SLAM | RGBD | Visual features | 3D vision
Knowledge Area: Ingeniería de Sistemas y Automática | Ciencia de la Computación e Inteligencia Artificial
Issue Date: 24-Oct-2012
Publisher: IOS Press
Citation: Artificial Intelligence Research and Development: Proceedigs of the 15th International Conference of the Catalan Association for Artificial Intelligence. David Riaño, Eva Onaindia, Miguel Cazorla (Eds.). (Frontiers in Artificial Intelligence and Applications; 248). IOS Press, 2012, pp. 143-150
Abstract: This paper presents a method for fast calculation of the egomotion done by a robot using visual features. The method is part of a complete system for automatic map building and Simultaneous Localization and Mapping (SLAM). The method uses optical flow in order to determine if the robot has done a movement. If so, some visual features which do not accomplish several criteria (like intersection, unicity, etc,) are deleted, and then the egomotion is calculated. We use a state-of-the-art algorithm (TORO) in order to rectify the map and solve the SLAM problem. The proposed method provides better efficiency that other current methods.
Sponsor: These authors want to express their gratitude to Spanish Ministry of Science and Technology (MYCIT) and the Research and Innovation Vice-president Office of the University of Alicante for their financial support through the projects DPI2009-07144 and GRE10-16, respectively.
ISBN: 978-1-61499-138-0
ISSN: 0922-6389 (Print) | 1879-8314 (Online)
DOI: 10.3233/978-1-61499-139-7-143
Language: eng
Type: info:eu-repo/semantics/conferenceObject
Rights: © 2012 The authors and IOS Press
Peer Review: si
Publisher version:
Appears in Collections:INV - AUROVA - Comunicaciones a Congresos Internacionales
INV - RoViT - Comunicaciones a Congresos, Conferencias, etc.

Files in This Item:
Files in This Item:
File Description SizeFormat 
Thumbnailios-book-article.pdfVersión revisada (acceso abierto)1,02 MBAdobe PDFOpen Preview

Items in RUA are protected by copyright, with all rights reserved, unless otherwise indicated.