Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Monocular Vision and Odometry-Based SLAM Using Position and Orientation of Ceiling Lamps

천장 조명의 위치와 방위 정보를 이용한 모노카메라와 오도메트리 정보 기반의 SLAM

  • Received : 2010.08.06
  • Accepted : 2011.01.05
  • Published : 2011.02.01
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Abstract

This paper proposes a novel monocular vision-based SLAM (Simultaneous Localization and Mapping) method using both position and orientation information of ceiling lamps. Conventional approaches used corner or line features as landmarks in their SLAM algorithms, but these methods were often unable to achieve stable navigation due to a lack of reliable visual features on the ceiling. Since lamp features are usually placed some distances from each other in indoor environments, they can be robustly detected and used as reliable landmarks. We used both the position and orientation of a lamp feature to accurately estimate the robot pose. Its orientation is obtained by calculating the principal axis from the pixel distribution of the lamp area. Both corner and lamp features are used as landmarks in the EKF (Extended Kalman Filter) to increase the stability of the SLAM process. Experimental results show that the proposed scheme works successfully in various indoor environments.

Keywords

References

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  1. Geographical Group-based FastSLAM Algorithm for Maintenance of the Diversity of Particles vol.19, pp.10, 2013, https://doi.org/10.5302/J.ICROS.2013.13.1932
  2. Past and State-of-the-Art SLAM Technologies vol.20, pp.3, 2014, https://doi.org/10.5302/J.ICROS.2014.14.9024
  3. A 2.5D Map-Based Mobile Robot Localization via Cooperation of Aerial and Ground Robots vol.17, pp.12, 2017, https://doi.org/10.3390/s17122730