LiU Electronic Press
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Author:
Berger, Cyrille (Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab)
Lacroix, Simon (LAAS/CNRS, Univ. of Toulouse, Toulouse, France) (RIS)
Title:
Using planar facets for stereovision SLAM
Department:
Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab
Publication type:
Conference paper (Refereed)
Language:
English
In:
Proceedings of the IEEE/RSJ International Conference on Intelligent RObots and Systems (IROS)
Conference:
IEEE/RSJ International Conference on, Intelligent Robots and Systems, September, 22-26, 2008, Nice, France
Publisher: IEEE conference proceedings
Pages:
1606-1611
Year of publ.:
2008
URI:
urn:nbn:se:liu:diva-73416
Permanent link:
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-73416
ISBN:
978-1-4244-2057-5
Subject category:
Computer Vision and Robotics (Autonomous Systems)
Keywords(en) :
SLAM, Computer Vision, Mapping
Abstract(en) :

In the context of stereovision SLAM, we propose a way to enrich the landmark models. Vision-based SLAM approaches usually rely on interest points associated to a point in the Cartesian space: by adjoining oriented planar patches (if they are present in the environment), we augment the landmark description with an oriented frame. Thanks to this additional information, the robot pose is fully observable with the perception of a single landmark, and the knowledge of the patches orientation helps the matching of landmarks. The paper depicts the chosen landmark model, the way to extract and match them, and presents some SLAM results obtained with such landmarks.

Available from:
2012-01-03
Created:
2012-01-03
Last updated:
2012-02-02
Statistics:
29 hits