NDLI: 3D simultaneous localisation and map-building using active vision for a robot moving on undulating terrain

Content Provider	IEEE Xplore Digital Library
Author	Davison, A.J. Kita, N.
Copyright Year	2001
Description	Author affiliation: Dept. of Eng. Sci., Oxford Univ., UK (Davison, A.J.)
Abstract	Work in simultaneous localisation and map-building ("SLAM") for mobile robots has focused on the simplified case in which a robot is considered to move in two dimensions on a ground plane. While this is often a good approximation, a large number of real-world applications require robots to move around terrain which has significant slopes and undulations, and it is desirable that these robots too should be able to estimate their locations by building maps of natural features. We describe a real-time EKF-based-SLAM system permitting unconstrained 3D localisation, and in particular develop models for the motion of a wheeled robot in the presence of unknown slope variations. In a fully automatic implementation, our robot observes visual point features using fixating stereo vision and builds a sparse map on-the-fly. Combining this visual measurement with information from odometry and a roll/pitch accelerometer sensor, the robot performs accurate, repeatable localisation while traversing an undulating course.
Sponsorship	IEEE Comput. Soc. Tech. Committee on Pattern Analysis & Machine Intelligence
File Size	907873
File Format	PDF
ISBN	0769512720
ISSN	10636919
DOI	10.1109/CVPR.2001.990501
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2001-12-08
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot vision systems Mobile robots Robot sensing systems Robotics and automation Simultaneous localization and mapping Accelerometers Computer vision Real time systems Stereo vision Intelligent systems
Content Type	Text
Resource Type	Article
Subject	Computer Vision and Pattern Recognition Software

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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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