CV-SLAM using line and point features

Hyukdoo Choi, Sungjin Jo, Euntai Kim

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

5 Citations (Scopus)

Abstract

Simultaneous Localization and Mapping (SLAM) is a fundamental problem in the mobile robotics. As SLAM is usually utilized in an indoor environment, we select the ceiling view (CV) as a stable source of features. In this research, three types of features are extracted from CV and constitute a single map. The landmarks detected from ceilings are ceiling boundaries, electric lamps, and circles. Each of them is very robustly detected from CV and the combination of them yields more stable and accurate localization performance. Multiple kinds of features are integrated into an EKF-SLAM framework. We demonstrated the SLAM system in an indoor environment and proved its high performance.

Original languageEnglish
Title of host publicationICCAS 2012 - 2012 12th International Conference on Control, Automation and Systems
Pages1465-1468
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

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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  • Cite this

    Choi, H., Jo, S., & Kim, E. (2012). CV-SLAM using line and point features. In ICCAS 2012 - 2012 12th International Conference on Control, Automation and Systems (pp. 1465-1468). [6393068] (International Conference on Control, Automation and Systems).