Single camera vision-only SLAM on a suburban road network

Milford, M. J. and Wyeth, G. F. (2008). Single camera vision-only SLAM on a suburban road network. In: Robotics and Automation 2008 (ICRA 2008). IEEE International Conference on Robotics and Automation 2008 (ICRA 2008), Pasadena, CA, U.S.A., (3684-3689). 19-23 May 2008. doi:10.1109/ROBOT.2008.4543776

Author Milford, M. J.
Wyeth, G. F.
Title of paper Single camera vision-only SLAM on a suburban road network
Conference name IEEE International Conference on Robotics and Automation 2008 (ICRA 2008)
Conference location Pasadena, CA, U.S.A.
Conference dates 19-23 May 2008
Proceedings title Robotics and Automation 2008 (ICRA 2008)   Check publisher's open access policy
Journal name 2008 Ieee International Conference On Robotics and Automation, Vols 1-9   Check publisher's open access policy
Place of Publication Piscataway, NJ, U.S.A.
Publisher IEEE - Institute of Electrical Electronics Engineers Inc.
Publication Year 2008
Year available 2008
Sub-type Fully published paper
DOI 10.1109/ROBOT.2008.4543776
ISBN 978-1-4244-1646-2
ISSN 1050-4729
Start page 3684
End page 3689
Total pages 6
Collection year 2009
Language eng
Abstract/Summary Simultaneous localization and mapping (SLAM) is one of the major challenges in mobile robotics. Probabilistic techniques using high-end range finding devices are well established in the field, but work has investigated vision-only approaches. This paper presents a method for generating approximate rotational and translation velocity information from a single vehicle-mounted consumer camera, without the computationally expensive process of tracking landmarks. The method is tested by employing it to provide the odometric and visual information for the RatSLAM system while mapping a complex suburban road network. RatSLAM generates a coherent map of the environment during an 18 km long trip through suburban traffic at speeds of up to 60 km/hr. This result demonstrates the potential of ground-based vision-only SLAM using low cost sensing and computational hardware.
Subjects E1
1109 Neurosciences
110999 Neurosciences not elsewhere classified
Keyword Mobile robots
Simultaneous localization and mapping (SLAM)
Robot vision
Q-Index Code E1
Q-Index Status Confirmed Code

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