Estimating uncertain spatial relationships in robotics
Autonomous robot vehicles
Real-Time Simultaneous Localisation and Mapping with a Single Camera
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Convergence and Consistency Analysis for Extended Kalman Filter Based SLAM
IEEE Transactions on Robotics
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In this paper we propose an algorithm to multi-robot cooperative Simultaneous Localization and Mapping (SLAM) with monocular camera mounted on each robot. The map consists of a sparse set of features, and the feature is prominent in the environment that robots explored, we call it salient landmark. The scene of exploration is typical office environment. Vertical lines and doorplates of environment are considered as visual landmarks to implement single-robot localization and multi-robot cooperation. An approach based on duplicate landmarks and rendezvous is also presented to improve the accuracy and reliability of SLAM. Our system was evaluated by an indoor two robot team, the results of this test showed that our approach is valid.