Experiments in outdoor operation of RatSLAM

Prasser, D. P., Wyeth, G. F. and Milford, M. J. (2004). Experiments in outdoor operation of RatSLAM. In: Nick Barnes and David Austin, Proceedings of the 2004 Australasian Conference on Robotics and Automation. The 2004 Australasian Conference on Robotics and Automation (ACRA2004), Canberra, (1-6). 6-8 December, 2004.


Author Prasser, D. P.
Wyeth, G. F.
Milford, M. J.
Title of paper Experiments in outdoor operation of RatSLAM
Conference name The 2004 Australasian Conference on Robotics and Automation (ACRA2004)
Conference location Canberra
Conference dates 6-8 December, 2004
Proceedings title Proceedings of the 2004 Australasian Conference on Robotics and Automation
Place of Publication Canberra, Australia
Publisher Australian Robotics and Automation Association
Publication Year 2004
Sub-type Fully published paper
ISBN 0-9587583-6-0
Editor Nick Barnes
David Austin
Start page 1
End page 6
Total pages 6
Collection year 2004
Language eng
Abstract/Summary This paper shows initial results in deploying the biologically inspired Simultaneous Localisation and Mapping system, RatSLAM, in an outdoor environment. RatSLAM has been widely tested in indoor environments on the task of producing topologically coherent maps based on a fusion of odometric and visual information. This paper details the changes required to deploy RatSLAM on a small tractor equipped with odometry and an omnidirectional camera. The principal changes relate to the vision system, with others required for RatSLAM to use omnidirectional visual data. The initial results from mapping around a 500 m loop are promising, with many improvements still to be made.
Subjects E1
290301 Robotics and Mechatronics
780199 Other
Q-Index Code E1

 
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Created: Thu, 23 Aug 2007, 19:29:59 EST