The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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A Practical FastSLAM Implementation Method using an Infrared Camera for Indoor Environments

실내 환경에서 Infrared 카메라를 이용한 실용적 FastSLAM 구현 방법

  • 장헤이롱 (삼성전자DMC사업부) ;
  • 이헌철 (서울대학교 전기컴퓨터공학부) ;
  • 이범희 (서울대학교 전기컴퓨터공학부)
  • Received : 2009.09.30
  • Accepted : 2009.11.23
  • Published : 2009.11.30
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Abstract

FastSLAM is a factored solution to SLAM problem using a Rao-Blackwellized particle filter. In this paper, we propose a practical FastSLAM implementation method using an infrared camera for indoor environments. The infrared camera is equipped on a Pioneer3 robot and looks upward direction to the ceiling which has infrared tags with the same height. The infrared tags are detected with theinfrared camera as measurements, and the Nearest Neighbor method is used to solve the unknown data association problem. The global map is successfully built and the robot pose is predicted in real time by the FastSLAM2.0 algorithm. The experiment result shows the accuracy and robustness of the proposed method in practical indoor environment.

Keywords

References

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