Multi-robot Mapping Using Omnidirectional-Vision SLAM Based on Fisheye Images

Title
Multi-robot Mapping Using Omnidirectional-Vision SLAM Based on Fisheye Images
Author(s)
이석규최윤원권기구[권기구]이수인[이수인]최정원[최정원]
Keywords
MOBILE ROBOTS; NAVIGATION; REPRESENTATIONS; LOCALIZATION; ALGORITHM
Issue Date
201412
Publisher
ELECTRONICS TELECOMMUNICATIONS RESEARCH INST
Citation
ETRI JOURNAL, v.36, no.6, pp.913 - 923
Abstract
This paper proposes a global mapping algorithm for multiple robots from an orimidirectional-vision simultaneous localization and mapping (SLAM) approach based on an object extraction method using Lucas-Kanade optical flow motion detection and images obtained through fisheye lenses mounted on robots. The multi-robot mapping algorithm draws a global map by using map data obtained from all of the individual robots. Global mapping takes a long time to process because it exchanges map data from individual robots while searching all areas. An omnidirectional image sensor has many advantages for object detection and mapping because it can measure all information around a robot simultaneously. The process calculations of the correction algorithm are improved over existing methods by correcting only the object's feature points. The proposed algorithm has two steps: first, a local map is created based on an omnidirectional-vision SLAM approach for individual robots. Second, a global map is generated by merging individual maps from multiple robots. The reliability of the proposed mapping algorithm is verified through a comparison of maps based on the proposed algorithm and real maps.
URI
http://hdl.handle.net/YU.REPOSITORY/30351http://dx.doi.org/10.4218/etrij.14.0114.0584
ISSN
1225-6463
Appears in Collections:
공과대학 > 전기공학과 > Articles
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