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
N1 - Copyright:
Copyright 2013 Elsevier B.V., All rights reserved.
PY - 2012
Y1 - 2012
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
AN - SCOPUS:84872542533
SN - 9781467322478
T3 - International Conference on Control, Automation and Systems
SP - 1461
EP - 1464
BT - ICCAS 2012 - 2012 12th International Conference on Control, Automation and Systems
T2 - 2012 12th International Conference on Control, Automation and Systems, ICCAS 2012
Y2 - 17 October 2012 through 21 October 2012
ER -