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 Dec 1
Event2012 12th International Conference on Control, Automation and Systems, ICCAS 2012 - Jeju, Korea, Republic of
Duration: 2012 Oct 172012 Oct 21

Other

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

Fingerprint

Ceilings
Sonar
Fusion reactions
Cameras
Sensors
Robots

All Science Journal Classification (ASJC) codes

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

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]
Jo, Sungjin ; Choi, Hyukdoo ; Kim, Euntai. / Ceiling vision based SLAM approach using sensor fusion of sonar sensor and monocular camera. ICCAS 2012 - 2012 12th International Conference on Control, Automation and Systems. 2012. pp. 1461-1464
@inproceedings{b1d41ce554ff4e47aa06f9570c5f5685,
title = "Ceiling vision based SLAM approach using sensor fusion of sonar sensor and monocular camera",
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.",
author = "Sungjin Jo and Hyukdoo Choi and Euntai Kim",
year = "2012",
month = "12",
day = "1",
language = "English",
isbn = "9781467322478",
pages = "1461--1464",
booktitle = "ICCAS 2012 - 2012 12th International Conference on Control, Automation and Systems",

}

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., 6393067, pp. 1461-1464, 2012 12th International Conference on Control, Automation and Systems, ICCAS 2012, Jeju, Korea, Republic of, 12/10/17.

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 proceedingConference 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 -

Jo S, Choi H, Kim E. 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. 2012. p. 1461-1464. 6393067