NDLI: A line feature based SLAM with low grade range sensors using geometric constraints and active exploration for mobile robot

Content Provider	Springer Nature Link
Author	Choi, Young Ho Lee, Tae Kyeong Oh, Se Young
Copyright Year	2007
Abstract	This paper describes a geometrically constrained Extended Kalman Filter (EKF) framework for a line feature based SLAM, which is applicable to a rectangular indoor environment. Its focus is on how to handle sparse and noisy sensor data, such as PSD infrared sensors with limited range and limited number, in order to develop a low-cost navigation system. It has been applied to a vacuum cleaning robot in our research. In order to meet the real-time objective with low computing power, we develop an efficient line feature extraction algorithm based upon an iterative end point fit (IEPF) technique assisted by our constrained version of the Hough transform. It uses a geometric constraint that every line is orthogonal or parallel to each other because in a general indoor setting, most furniture and walls satisfy this constraint. By adding this constraint to the measurement model of EKF, we build a geometrically constrained EKF framework which can estimate line feature positions more accurately as well as allow their covariance matrices to converge more rapidly when compared to the case of an unconstrained EKF. The experimental results demonstrate the accuracy and robustness to the presence of sensor noise and errors in an actual indoor environment.
Starting Page	13
Ending Page	27
Page Count	15
File Format	PDF
ISSN	09295593
Journal	Autonomous Robots
Volume Number	24
Issue Number	1
e-ISSN	15737527
Language	English
Publisher	Springer US
Publisher Date	2007-10-19
Publisher Place	Boston
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Line feature SLAM EKF Geometric constraint Environmental modeling Simulation and Modeling Mechanical Engineering Computer Imaging, Vision, Pattern Recognition and Graphics Electronic and Computer Engineering Automation and Robotics Artificial Intelligence (incl. Robotics)
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

A practical approach for EKF-SLAM in an indoor environment: fusing ultrasonic sensors and stereo camera

Data association using relative compatibility of multiple observations for EKF-SLAM

Mobile Robot Simultaneous Localization and Mapping in Dynamic Environments

Mobile robot olfaction

Feature based graph-SLAM in structured environments

Ceiling vision-based active SLAM framework for dynamic and wide-open environments

A comparison of line extraction algorithms using 2D range data for indoor mobile robotics

Stair Climber Smart Mobile Robot (MSRox)

A Discussion of Simultaneous Localization and Mapping

A line feature based SLAM with low grade range sensors using geometric constraints and active exploration for mobile robot

Similar Documents

A practical approach for EKF-SLAM in an indoor environment: fusing ultrasonic sensors and stereo camera

Data association using relative compatibility of multiple observations for EKF-SLAM

Mobile Robot Simultaneous Localization and Mapping in Dynamic Environments

Mobile robot olfaction

Feature based graph-SLAM in structured environments

Ceiling vision-based active SLAM framework for dynamic and wide-open environments

A comparison of line extraction algorithms using 2D range data for indoor mobile robotics

Stair Climber Smart Mobile Robot (MSRox)

A Discussion of Simultaneous Localization and Mapping

A line feature based SLAM with low grade range sensors using geometric constraints and active exploration for mobile robot