Mobile robot localisation with stereo vision

Authors:
Aldo Cumani;Antonio Guiducci
Affiliations:
Istituto Elettrotecnico Nazionale Galileo Ferraris, Torino, Italy;Istituto Elettrotecnico Nazionale Galileo Ferraris, Torino, Italy
Venue:
ISCGAV'05 Proceedings of the 5th WSEAS International Conference on Signal Processing, Computational Geometry & Artificial Vision
Year:
2005

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Abstract

This work considers the problem of reducing the accumulated pose error in a grid-based SLAM system using a stereo vision sensor. It is shown that by periodically estimating the heading change by vision it is possible to recover most of the heading error with respect to dead reckoning, while 2D positional error can be efficiently recovered by map correlation. Experimental results confirm the validity of the approach.