Straight-lines modelling using planar information for monocular SLAM

• Autorzy: André M. Santana , Adelardo A.D. Medeiros
• Języki publikacji: EN

Abstrakty

EN

This work proposes a SLAM (Simultaneous Localization And Mapping) solution based on an Extended Kalman Filter (EKF) in order to enable a robot to navigate along the environment using information from odometry and pre-existing lines on the floor. These lines are recognized by a Hough transform and are mapped into world measurements using a homography matrix. The prediction phase of the EKF is developed using an odometry model of the robot, and the updating makes use of the line parameters in Kalman equations without any intermediate stage for calculating the distance or the position. We show two experiments (indoor and outdoor) dealing with a real robot in order to validate the project.

Słowa kluczowe

EN

SLAM; Kalman filter; Hough transform; monocular vision

• Wydawca: University of Zielona Gora Press
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2012
• Tom: 22
• Numer: 2
• Strony: 409-421

Daty

wydano

2012

otrzymano

2011-01-05

poprawiono

2011-08-23

Twórcy

autor

André M. Santana

• Department of Informatics and Statistics, Federal University of Piauí, Teresina, PI, 64049-550, Brasil

autor

Adelardo A.D. Medeiros

• Department of Informatics and Statistics, Federal University of Piauí, Teresina, PI, 64049-550, Brasil
• Department of Computer Engineering and Automation, Federal University of Rio Grande do Norte, Natal, RN, 59078-970, Brasil

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Identyfikatory

DOI

10.2478/v10006-012-0031-8