Featureless vehicle-based visual SLAM with a consumer camera
Milford, Michael & Wyeth, Gordon (2007) Featureless vehicle-based visual SLAM with a consumer camera. In Dunbabin, Matthew & Srinivasan, Mandyam (Eds.) Proceedings of Australasian Conference on Robotics and Automation 2007, Brisbane, Queensland.
The Simultaneous Localisation And Mapping (SLAM) problem is one of the major challenges in mobile robotics. Probabilistic techniques using high-end range finding devices are well established in the field, but recent work has investigated vision-only approaches. We present an alternative approach to the leading existing techniques, which extracts approximate rotational and translation velocity information from a vehicle-mounted consumer camera, without tracking landmarks. When coupled with an existing SLAM system, the vision module is able to map a 45 metre long indoor loop and a 1.6 km long outdoor road loop, without any parameter or system adjustment between tests. The work serves as a promising pilot study into ground-based vision-only SLAM, with minimal geometric interpretation of the environment.
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|Item Type:||Conference Paper|
|Subjects:||Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Adaptive Agents and Intelligent Robotics (080101)|
|Copyright Owner:||Copyright 2007 [please consult the authors]|
|Deposited On:||24 Jun 2010 12:43|
|Last Modified:||01 Mar 2012 00:14|
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