SLAM with Visually Salient Line Features in Indoor Hallway Environments

실내 복도 환경에서 선분 특징점을 이용한 비전 기반의 지도 작성 및 위치 인식

  • 안수용 (포항공과대학교 전자전기공학과) ;
  • 강정관 (포항공과대학교 전자전기공학과) ;
  • 이래경 (포항공과대학교 전자전기공학과) ;
  • 오세영 (포항공과대학교 전자전기공학과)
  • Published : 2010.01.01


This paper presents a simultaneous localization and mapping (SLAM) of an indoor hallway environment using Rao-Blackwellized particle filter (RBPF) along with a line segment as a landmark. Based on the fact that fluent line features can be extracted around the ceiling and side walls of hallway using vision sensor, a horizontal line segment is extracted from an edge image using Hough transform and is also tracked continuously by an optical flow method. A successive observation of a line segment gives initial state of the line in 3D space. For data association, registered feature and observed feature are matched in image space through a degree of overlap, an orientation of line, and a distance between two lines. Experiments show that a compact environmental map can be constructed with small number of horizontal line features in real-time.


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