Sciweavers

Share
CVPR
2001
IEEE

3D Simultaneous Localisation and Map-Building Using Active Vision for a Robot Moving on Undulating Terrain

11 years 16 days ago
3D Simultaneous Localisation and Map-Building Using Active Vision for a Robot Moving on Undulating Terrain
Work in simultaneous localisation and map-building ("SLAM") for mobile robots has focused on the simplified case in which a robot is considered to move in two dimensions on a ground plane. While this is often a good approximation, a large number of real-world applications require robots to move around terrain which has significant slopes and undulations, and it is desirable that these robots too should be able to estimate their locations by building maps of natural features. In this paper we describe a real-time EKF-based SLAM system permitting unconstrained 3D localisation, and in particular develop models for the motion of a wheeled robot in the presence of unknown slope variations. In a fully automatic implementation, our robot observes visual point features using fixating stereo vision and builds a sparse map on-the-fly. Combining this visual measurement with information from odometry and a roll/pitch accelerometer sensor, the robot performs accurate, repeatable localisa...
Andrew J. Davison, Nobuyuki Kita
Added 12 Oct 2009
Updated 29 Oct 2009
Type Conference
Year 2001
Where CVPR
Authors Andrew J. Davison, Nobuyuki Kita
Comments (0)
books