Featureless vehicle-based visual SLAM with a consumer camera

Milford, M. and Wyeth, G. (2007). Featureless vehicle-based visual SLAM with a consumer camera. In: Matthew Dunbabin and Mandyam Srinivasan, Proceedings of the 2007 Australiasian Conference on Robotics and Automation. Australiasian Conference on Robotics and Automation 2007, Brisbane, Australia, (). 10-12 December 2007.


Author Milford, M.
Wyeth, G.
Title of paper Featureless vehicle-based visual SLAM with a consumer camera
Conference name Australiasian Conference on Robotics and Automation 2007
Conference location Brisbane, Australia
Conference dates 10-12 December 2007
Proceedings title Proceedings of the 2007 Australiasian Conference on Robotics and Automation
Journal name Proceedings of the 2007 Australasian Conference on Robotics and Automation, ACRA 2007
Place of Publication Brisbane, Australia
Publisher Australian Robotics and Automation Association (ARAA)
Publication Year 2007
Sub-type Fully published paper
ISBN 978-0-9587583-9-0
Editor Matthew Dunbabin
Mandyam Srinivasan
Total pages 8
Collection year 2008
Language eng
Abstract/Summary The Simultaneous Localisation And Mapping (SLAM) problem is one of the major challenges in mobile robotics. Probabilistic techniques using high-end range finding devices are well established in the field, but recent work has investigated vision-only approaches. We present an alternative approach to the leading existing techniques, which extracts approximate rotational and translation velocity information from a vehicle-mounted consumer camera, without tracking landmarks. When coupled with an existing SLAM system, the vision module is able to map a 45 metre long indoor loop and a 1.6 km long outdoor road loop, without any parameter or system adjustment between tests. The work serves as a promising pilot study into ground-based vision-only SLAM, with minimal geometric interpretation of the environment.
Subjects E1
290301 Robotics and Mechatronics
780199 Other
Keyword Simultaneous Localisation and Mapping (SLAM) system
Q-Index Code E1
Q-Index Status Confirmed Code
Additional Notes Full text of paper (pdf) available via conference website.

 
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Created: Mon, 28 Apr 2008, 12:03:13 EST by Donna Clark on behalf of School of Information Technol and Elec Engineering