NDLI: Real-Time SLAM with a High-Speed CMOS Camera

Content Provider	IEEE Xplore Digital Library
Author	Gemeiner, P. Ponweiser, W. Einramhof, P. Vincze, M.
Copyright Year	2007
Description	Author affiliation: Vienna Univ. of Technol., Vienna (Gemeiner, P.; Ponweiser, W.; Einramhof, P.; Vincze, M.)
Abstract	A typical task in mobile robotics or augmented reality applications is self-localization in an unknown environment. In the robotics community the localization and mapping of the unknown environment is called SLAM (simultaneous localization and mapping). Important constraints in SLAM using visual input are real-time processing and robustness against motion blur or jitter. The contribution of this paper is in enhancing the performance of a well known SLAM method using a high-speed CMOS camera. Benefits of this camera are that it allows fast image processing, little motion blur and low localization uncertainty. SLAM performance with a high-speed camera is demonstrated on a robotic arm. The result of the experiments is that for SLAM applications in robotics, where the motion is not smooth, the high-speed CMOS camera is a more suitable sensor than a standard CCD camera.
Starting Page	297
Ending Page	302
File Size	923570
Page Count	6
File Format	PDF
ISBN	9780769528779
DOI	10.1109/ICIAP.2007.4362795
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-09-10
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Simultaneous localization and mapping CMOS image sensors Cameras Robot vision systems Robot sensing systems Charge-coupled image sensors Mobile robots Augmented reality Robustness Jitter
Content Type	Text
Resource Type	Article

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