Visual FastSLAM through Omnivision

Publication Type:

Conference Paper

Authors:

Cristina Gamallo; Manuel Mucientes; Carlos V. Regueiro

Source:

Towards Autonomous Robotic Systems 2009, University of Ulster, Londonderry, United Kingdom, p.128-135 (2009)

Keywords:

C.Gamallo; C.V.Regueiro; M.Mucientes

Abstract:

Simultaneous Localization and Mapping (SLAM)
is still an open problem in mobile robotics. In this paper
a SLAM algorithm using omnivision is presented. Omnidirectional
cameras have a wide field of view, thus detecting
landmarks over long distances, but this also requires a good
data association. Our SLAM proposal is based on the wellknown
FastSLAM algorithm [1]. Our main contributions are
the features detection and their position estimation for an
omnidirectional camera (bearing-only sensor), and also the data
association process based on the Hungarian algorithm. The
system has been tested on a Pioneer 3-DX robot equipped with
an omnidirectional camera (a camera with a fish-eye lens) and
a passband infrared filter. Experiments were carried out in
an exposition hall of a museum, showing a good performance,
despite the uneven floor which generates a swinging on the
camera and increases the error in the motion commands.