3D omni-directional vision SLAM using a fisheye lens laser scanner

Title
3D omni-directional vision SLAM using a fisheye lens laser scanner
Author(s)
이석규최윤원최정원[최정원]
Keywords
Algorithms; Cameras; Conformal mapping; Laser applications; Robot applications; 3-D vision; Estimation methods; Fish-eye lens; Laser scanner; Laser scanner data; Multiple function; Omni-directional vision; Three dimensional mapping; Scanning
Issue Date
201507
Citation
Journal of Institute of Control, Robotics and Systems, v.21, no.7, pp.634 - 640
Abstract
This paper proposes a novel three-dimensional mapping algorithm in Omni-Directional Vision SLAM based on a fisheye image and laser scanner data. The performance of SLAM has been improved by various estimation methods, sensors with multiple functions, or sensor fusion. Conventional 3D SLAM approaches which mainly employed RGB-D cameras to obtain depth information are not suitable for mobile robot applications because RGB-D camera system with multiple cameras have a greater size and slow processing time for the calculation of the depth information for omni-directional images. In this paper, we used a fisheye camera installed facing downwards and a two-dimensional laser scanner separate from the camera at a constant distance. We calculated fusion points from the plane coordinates of obstacles obtained by the information of the two-dimensional laser scanner and the outline of obstacles obtained by the omni-directional image sensor that can acquire surround view at the same time. The effectiveness of the proposed method is confirmed through comparison between maps obtained using the proposed algorithm and real maps. ? ICROS 2015.
URI
http://hdl.handle.net/YU.REPOSITORY/31523http://dx.doi.org/10.5302/J.ICROS.2015.15.0002
ISSN
1976-5622
Appears in Collections:
공과대학 > 전기공학과 > Articles
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