Abstract:A method of omni-vision-based simultaneous localization and mapping(Omni-vSLAM) for mobile robots is introduced.The presented method extracts the color areas and uses the extracted information as the visual landmarks.The imaging principle and localization uncertainty of the omni-vision are analyzed to build the observation model and locate the landmarks.Then the robot poses and map information are updated synchronously with the help of extended Kalman filter(EKF).The experiment results show that the presented method can build the environment map and correct the accumulated location error caused by the odometer simultaneously.
[1] Tardos JD,Neira J,Newman P,et al.Robust mapping and localization in indoor environments using sonar data[J].The International Journal of Robotics Research,2002,21(4):311~330.
[2] Guivant J,Nebot E,Balker S.Localization and map building using laser range sensors in outdoor applications[J].Journal of Robotic Systems,2000,17(10):565~583.
[3] Se S,Lowe D G,Little J J.Vision-based global localization and mapping for mobile robots[J].IEEE Transactions on Robotics,2005,21(3):364~375.
[4] Davison A J.Real-time simultaneous localisation and mapping with a single camera[A].Proceedings of the IEEE International Conference on Computer Vision[C].Piscataway,NJ,USA:IEEE,2003.1403~1410.
[5] Ishiguro H.Development of low-cost compact omnidirectional vision sensors and their applications[DB/OL].http://www.ai.soc.i.kyoto-u.ac.jp/publications/98/98conf04.pdf,1998.
[6] Bunschoten R.Mapping and Localization from a Panoramic Vision Sensor[DB/OL].http://www.science.uva.nl/research/ias/alumni/ph.d.theses/theses/RolandBunschoten.pdf,2003.
[7] Andreasson H,Treptow A,Duckett T.Localization for mobile robots using panoramic vision,local features and particle filter[A].Proceedings of the IEEE International Conference on Robotics and Automation[C].Piscataway,NJ,USA:IEEE,2005.3348~3353.
[8] Durrant-Whyte H,Bailey T.Simultaneous localization and mapping:Part Ⅰ[J].IEEE Robotics and Automation Magazine,2006,13(2):99~110.
[9] Dissanayake M W M G,Newman P,Clark S,et al.A solution to the simultaneous localization and map building(SLAM)problem[J].IEEE Transactions on Robotics and Automation,2001,17(3):229~241.
[10] Zivkovic Z,Booij O.How did we built our hyperbolic mirror omnidirectional camera-practical issues and basic geometry[DB/OL].http://staff.science.uva.nl/~zivkovic/Publications/trIAS-UVA-05-04.pdf,2005.
[11] Sural S,Qian G,Pramanik S.Segmentation and histogram generation using the HSV color space for image retrieval[A].Proceedings of the 2002 International Conference on Image Processing[C].Piscataway,NJ,USA:IEEE,2002.589~592.
[12] 王磊,陈卫东.面向自主机器人的实时彩色视觉系统[J].上海交通大学学报,2003,37(11):1645~1648.Wang Lei,Cben Wei-dong.An autonomous robot oriented real-time color vision system[J].Journal of Shanghai Jiaotong University,2003,37(11):1645~1648.
[13] 罗荣华,洪炳镕.移动机器人同时定位与地图创建研究进展[J].机器人,2004,26(2):182~186.Luo Rong-hua,Hong Bing-rong.The progress of simultaneous lacalization and mapping for mobile robot[J].Robot,2004,26(2):182~186.
[14] Neira J,Tardos J D.Data association in stochastic mapping using the joint compatibility test[J].IEEE Transactions on Robotics and Automation,2001,17(6):890~897.