NDLI: Integrated laser-camera sensor for the detection and localization of landmarks for robotic applications

Content Provider	IEEE Xplore Digital Library
Author	Amarasinghe, D. Mann, G.K.I. Gosine, R.G.
Copyright Year	2008
Description	Author affiliation: Fac. of Eng. & Appl. Sci., Memorial Univ. of Newfoundland, St. John's, NL (Amarasinghe, D.; Mann, G.K.I.; Gosine, R.G.)
Abstract	This paper describes a landmark position measurement system using an integrated laser-camera sensor. Laser range finder can be used to detect landmarks that are direction invariant in the laser data such as protruding edges in walls, edges of tables, chairs. When such features are unavailable the processes that depend on landmarks such as navigation and simultaneous localization and mapping (SLAM) algorithms will fail. However, in many instances, larger number of landmarks can be detected using computer vision. In the proposed method camera is used to detect landmarks while the location of the landmark is measured by the laser range finder using laser- camera calibration information. Thus, the proposed method exploits the beneficial aspects of each sensor to overcome the disadvantages of the other sensor. Experimental results of an application in SLAM is presented to verify the results.
Starting Page	4012
Ending Page	4017
File Size	483995
Page Count	6
File Format	PDF
ISBN	9781424416462
ISSN	10504729
DOI	10.1109/ROBOT.2008.4543827
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	Robot sensing systems Simultaneous localization and mapping Cameras Computer vision Laser modes Sensor phenomena and characterization Robotics and automation Sensor systems and applications Calibration Layout
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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