NDLI: Single camera vision-only SLAM on a suburban road network

Content Provider	IEEE Xplore Digital Library
Author	Milford, M.J. Wyeth, G.F.
Copyright Year	2008
Description	Author affiliation: Sch. of Inf. Technol. & Electr. Eng., Univ. of Queensland, St. Lucia, QLD (Milford, M.J.)
Abstract	Simultaneous localization and mapping (SLAM) is one of the major challenges in mobile robotics. Probabilistic techniques using high-end range finding devices are well established in the field, but work has investigated vision-only approaches. This paper presents a method for generating approximate rotational and translation velocity information from a single vehicle-mounted consumer camera, without the computationally expensive process of tracking landmarks. The method is tested by employing it to provide the odometric and visual information for the RatSLAM system while mapping a complex suburban road network. RatSLAM generates a coherent map of the environment during an 18 km long trip through suburban traffic at speeds of up to 60 km/hr. This result demonstrates the potential of ground-based vision-only SLAM using low cost sensing and computational hardware.
Starting Page	3684
Ending Page	3689
File Size	1592464
Page Count	6
File Format	PDF
ISBN	9781424416462
ISSN	10504729
DOI	10.1109/ROBOT.2008.4543776
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-05-19
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cameras Simultaneous localization and mapping Roads Robot vision systems Mobile robots System testing Telecommunication traffic Computational efficiency Computer vision Hardware
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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