Scan-matching based 6dof slam using omnidirectional stereo

Hiroshi Koyasu, Hitoshi Maekawa, Hiroshi Kawasaki, Shintaro Ono, Katsushi Ikeuchi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Simultaneous localization and mapping (SLAM) of working environments is one of the important problems in mobile robotics. For the problem, we present a new method using an omnidirectional stereo system. By using 3D range information obtained from the omnidirectional stereo, we construct scan-matching based extended Kalman filter SLAM(EKF-SLAM) system. In the system, the output of the piecewise iterative closest point(ICP) algorithm is used as the observation of the EKF. The global consistency of the robot trajectory is kept by a loop closing method based on the Kalman smoothing. Experimental results of the method are shown for a simulated environment.

Original languageEnglish
Title of host publicationProceedings of the 13th IAPR International Conference on Machine Vision Applications, MVA 2013
PublisherMVA Organization
Pages306-310
Number of pages5
ISBN (Print)9784901122139
Publication statusPublished - Jan 1 2013
Event13th IAPR International Conference on Machine Vision Applications, MVA 2013 - Kyoto, Japan
Duration: May 20 2013May 23 2013

Publication series

NameProceedings of the 13th IAPR International Conference on Machine Vision Applications, MVA 2013

Conference

Conference13th IAPR International Conference on Machine Vision Applications, MVA 2013
CountryJapan
CityKyoto
Period5/20/135/23/13

All Science Journal Classification (ASJC) codes

  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Koyasu, H., Maekawa, H., Kawasaki, H., Ono, S., & Ikeuchi, K. (2013). Scan-matching based 6dof slam using omnidirectional stereo. In Proceedings of the 13th IAPR International Conference on Machine Vision Applications, MVA 2013 (pp. 306-310). (Proceedings of the 13th IAPR International Conference on Machine Vision Applications, MVA 2013). MVA Organization.