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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Robust Mobile-Robot Localization for Indoor SLAM

이동 로봇의 강인한 위치 추정을 통한 실내 SLAM

  • Mo, Se-Hyun (Division of Electronic Engineering, Chonbuk National University) ;
  • Yu, Dong-Hyun (Division of Electronic Engineering, Chonbuk National University) ;
  • Park, Jong-Ho (Division of Electrical & Electronics Engineering, Seonam University) ;
  • Chong, Kil-To (Advanced Electronics and Information Research Center, Chonbuk National University)
  • 모세현 (전북대학교 전자정보공학부) ;
  • 유동현 (전북대학교 전자정보공학부) ;
  • 박종호 (서남대학교 전기전자공학과) ;
  • 정길도 (전북대학교 전자정보신기술연구소)
  • Received : 2016.01.04
  • Accepted : 2016.02.17
  • Published : 2016.04.01
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Abstract

This paper presents the results of a study for robust self-localization and indoor slam using external cameras (such as a CCTV) and odometry of mobile robot. First, a position of mobile robot was estimated by using maker and odometry. This data was then fused with camera data and odometry data using an extended kalman filter. Finally, indoor slam was realized by applying the proposed method. This was demonstrated in the actual experiment.

Keywords

References

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