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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Hui-ying Liu Lu-fang Gao Yu-xian Gai Sheng Fu |
| Copyright Year | 2007 |
| Description | Author affiliation: Harbin Inst. of Technol., Weihai (Hui-ying Liu; Lu-fang Gao; Yu-xian Gai; Sheng Fu) |
| Abstract | Localization and map building are two essential tasks for an autonomous mobile robot's indoor navigation without a prior map. This paper describes a mobile robot system designed for simultaneous localization and mapping (SLAM) for an autonomous mobile robot in an indoor environment. Due to variant sensor modeling for sonar range finder and CCD camera, weighted least square fitting and Canny operator are used to extract certain two-dimensional environmental features and vertical edges respectively. Using Kalman filtering (KF) to localization and grid map building simultaneously are also presented. When implemented on a Zixing mobile robot produced by Harbin Institute of Technology (Weihai), the localization technique correctly localized the robot while exploring and mapping. |
| Starting Page | 1602 |
| Ending Page | 1607 |
| File Size | 603530 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424415311 |
| DOI | 10.1109/ICAL.2007.4338828 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2007-08-18 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Charge coupled devices localization EKF SLAM Buildings Robot vision systems Indoor environments Sensor phenomena and characterization Sonar navigation Mobile robots monocular Simultaneous localization and mapping Robot sensing systems Charge-coupled image sensors |
| Content Type | Text |
| Resource Type | Article |
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