Using a RGB-D camera for 6DoF SLAM
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http://hdl.handle.net/10045/45466
| 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. |
| URI: | http://hdl.handle.net/10045/45466 |
| 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: | http://dx.doi.org/10.3233/978-1-61499-139-7-143 |
| Appears in Collections: | INV - AUROVA - Comunicaciones a Congresos Internacionales INV - RoViT - Comunicaciones a Congresos, Conferencias, etc. |
Files in This Item:
| File | Description | Size | Format | |
|---|---|---|---|---|
 ios-book-article.pdf | Versión revisada (acceso abierto) | 1,02 MB | Adobe PDF | Open Preview |
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