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 |
|---|---|
| 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 |
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 |
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All Science Journal Classification (ASJC) codes
- Artificial Intelligence
- Computer Science Applications
- Control and Systems Engineering
- Electrical and Electronic Engineering
Cite this
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Ceiling vision based SLAM approach using sensor fusion of sonar sensor and monocular camera. / Jo, Sungjin; Choi, Hyukdoo; Kim, Euntai.
ICCAS 2012 - 2012 12th International Conference on Control, Automation and Systems. 2012. p. 1461-1464 6393067.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
TY - GEN
T1 - Ceiling vision based SLAM approach using sensor fusion of sonar sensor and monocular camera
AU - Jo, Sungjin
AU - Choi, Hyukdoo
AU - Kim, Euntai
PY - 2012/12/1
Y1 - 2012/12/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84872542533&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84872542533&partnerID=8YFLogxK
M3 - Conference contribution
SN - 9781467322478
SP - 1461
EP - 1464
BT - ICCAS 2012 - 2012 12th International Conference on Control, Automation and Systems
ER -