Ceiling vision based SLAM approach using sensor fusion of sonar sensor and monocular camera

Sungjin Jo, Hyukdoo Choi, Euntai Kim

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

6 Citations (Scopus)

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 languageEnglish
Title of host publicationICCAS 2012 - 2012 12th International Conference on Control, Automation and Systems
Pages1461-1464
Number of pages4
Publication statusPublished - 2012
Event2012 12th International Conference on Control, Automation and Systems, ICCAS 2012 - Jeju, Korea, Republic of
Duration: 2012 Oct 172012 Oct 21

Publication series

NameInternational Conference on Control, Automation and Systems
ISSN (Print)1598-7833

Other

Other2012 12th International Conference on Control, Automation and Systems, ICCAS 2012
CountryKorea, Republic of
CityJeju
Period12/10/1712/10/21

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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