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2008
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A solution for SLAM through augmenting vision and range information

10 years 4 months ago
A solution for SLAM through augmenting vision and range information
— This paper proposes a method for augmenting the information of a monocular camera and a range finder. This method is a valuable step towards solving the SLAM problem in unstructured environments free from problems of using encoders’ data. Proposed algorithm causes the robot to benefit from a feature-based map for filtering purposes, while it exploits an accurate motion model, based on point-wise raw range scan matching rather than unreliable feature-based range scan matching, in unstructured environments. Moreover, robust loop closure detection procedure is the other consequence of this method. Experiments with a low-cost IEEE 1394 webcam and a range finder illustrate the effectiveness of the proposed method in drift-free SLAM at loop closing motions in unstructured environments.
Ali Akbar Aghamohammadi, Amir Hossein Tamjidi, Ham
Added 31 May 2010
Updated 31 May 2010
Type Conference
Year 2008
Where IROS
Authors Ali Akbar Aghamohammadi, Amir Hossein Tamjidi, Hamid D. Taghirad
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