Robot localisation and mapping with stereo vision

Authors:
A. Cumani;S. Denasi;A. Guiducci;G. Quaglia
Affiliations:
Istituto Elettrotecnico Nazionale Galileo Ferraris, Torino, Italy;Istituto Elettrotecnico Nazionale Galileo Ferraris, Torino, Italy;Istituto Elettrotecnico Nazionale Galileo Ferraris, Torino, Italy;Istituto Elettrotecnico Nazionale Galileo Ferraris, Torino, Italy
Venue:
ISCGAV'04 Proceedings of the 4th WSEAS International Conference on Signal Processing, Computational Geometry & Artificial Vision
Year:
2004

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Abstract

This paper presents an approach to Simultaneous Localization and Mapping (SLAM) based on stereo vision. Standard stereo techniques are used to estimate 3D scene structure (point clouds). Point clouds at subsequent times are registered to estimate robot motion, and used to build a global environment map. Preliminary experimental results are also presented and discussed.