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Bearing-only Simultaneous Localization and Mapping for Vision-Based Mobile Robots

Huang, Henry, Maire, Frederic D., & Keeratipranon, Narongdech (2007) Bearing-only Simultaneous Localization and Mapping for Vision-Based Mobile Robots. In Obinata, Goro & Dutta, Ashish (Eds.) Vision Systems-Applications. I-Tech Education and Publishing, Vienna, Austria, pp. 335-360.

Abstract

To navigate successfully, a mobile robot must be able to estimate the spatial relationships of the objects of interest accurately. A SLAM (Simultaneous Localization and Mapping) system employs its sensor data to build incrementally a map of an unknown environment and to localize itself in the map simultaneously. Thanks to recent advances in computer vision and cheaper cameras, vision sensors have become popular to solve SLAM problems. The proposed bearing-only SLAM system requires only a single camera which is simple and affordable for the navigation of domestic robots such as autonomous lawn-mowers and vacuum cleaners. Existing approaches to bearing-only SLAM require the readings from an odometer to estimate the robot locations prior to landmark initialization. This chapter presents a new 2-dimensional bearing-only SLAM system that relies only on the bearing measurements from a single camera. Our proposed system does not require any other sensors like range sensors or wheel encoders. The trade-off is that it requires the robot to be able to move in a straight line for a short while to initialize the landmarks. Once the landmark positions are estimated, localization becomes easy. The induced map created by our method is only determined up to a scale factor as only bearing information is used (no range or odometry information). All the object coordinates in the map multiplied by a scale factor would not change the bearing values.

Impact and interest:

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ID Code: 9054
Item Type: Book Chapter
Additional Information: For more information about this book please refer to the publisher's website (see link) or contact the author. Author contact details : h5.huang@student.qut.edu.au
Additional URLs:
Keywords: SLAM, vision, based robot
ISBN: 9783902613011
Subjects: Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Computer Vision (080104)
Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Adaptive Agents and Intelligent Robotics (080101)
Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100)
Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000)
Divisions: Past > QUT Faculties & Divisions > Faculty of Science and Technology
Copyright Owner: Copyright 2007 I-Tech Education and Publishing
Deposited On: 20 Aug 2007
Last Modified: 29 Feb 2012 23:35

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