Machine Learning and Geometric Technique for SLAM

Authors:
Miguel Bernal-Marin;Eduardo Bayro-Corrochano
Affiliations:
Department of Electrical Engineering and Computer Sciences, CINVESTAV Unidad Guadalajara, Zapopan, Mexico 45015;Department of Electrical Engineering and Computer Sciences, CINVESTAV Unidad Guadalajara, Zapopan, Mexico 45015
Venue:
CIARP '09 Proceedings of the 14th Iberoamerican Conference on Pattern Recognition: Progress in Pattern Recognition, Image Analysis, Computer Vision, and Applications
Year:
2009

Citing 4
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Abstract

This paper describes a new approach for building 3D geometric maps using a laser rangefinder, a stereo camera system and a mathematical system the Conformal Geometric Algebra. The use of a known visual landmarks in the map helps to carry out a good localization of the robot. A machine learning technique is used for recognition of objects in the environment. These landmarks are found using the Viola and Jones algorithm and are represented with their position in the 3D virtual map.