Abstract
In practice, there could be more than two ceilings of different heights under an indoor environment and a robot under the desk could perceive the desk as a ceiling. In this case, a distance between ceilings and a robot seriously affects a performance of ceiling vision-based simultaneous localization and mapping (cv-SLAM). Therefore, in this paper, we propose the cv-SLAM using sensor fusion of mono-camera and sonar sensor. A sonar sensor can provide more exact distance between ceiling and a robot, and it helps to produce the improved performance of cv-SLAM.
| Original language | English |
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| Title of host publication | ICCAS 2012 - 2012 12th International Conference on Control, Automation and Systems |
| Pages | 1461-1464 |
| Number of pages | 4 |
| Publication status | Published - 2012 Dec 1 |
| Event | 2012 12th International Conference on Control, Automation and Systems, ICCAS 2012 - Jeju, Korea, Republic of Duration: 2012 Oct 17 → 2012 Oct 21 |
Publication series
| Name | International Conference on Control, Automation and Systems |
|---|---|
| ISSN (Print) | 1598-7833 |
Other
| Other | 2012 12th International Conference on Control, Automation and Systems, ICCAS 2012 |
|---|---|
| Country | Korea, Republic of |
| City | Jeju |
| Period | 12/10/17 → 12/10/21 |
All Science Journal Classification (ASJC) codes
- Artificial Intelligence
- Computer Science Applications
- Control and Systems Engineering
- Electrical and Electronic Engineering
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Cite this
Jo, S., Choi, H., & Kim, E. (2012). Ceiling vision based SLAM approach using sensor fusion of sonar sensor and monocular camera. In ICCAS 2012 - 2012 12th International Conference on Control, Automation and Systems (pp. 1461-1464). [6393067] (International Conference on Control, Automation and Systems).