Muñoz, Jose L., Pastor, Daniel, Gil, Pablo, Puente Méndez, Santiago T., Cazorla, Miguel
Using a RGB-D camera for 6DoF SLAM
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
URI: http://hdl.handle.net/10045/45466
DOI: 10.3233/978-1-61499-139-7-143
ISSN: 0922-6389 (Print)
ISBN: 978-1-61499-138-0
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.
Keywords:SLAM, RGBD, Visual features, 3D vision
IOS Press
info:eu-repo/semantics/conferenceObject