The visual SLAM system for a hexapod robot

Authors:
Adam Schmidt;Andrzej Kasiński
Affiliations:
Institute of Control and Information Engineering, Poznań University of Technology, Poznań, Poland;Institute of Control and Information Engineering, Poznań University of Technology, Poznań, Poland
Venue:
ICCVG'10 Proceedings of the 2010 international conference on Computer vision and graphics: Part II
Year:
2010

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Abstract

The precise localization of the mobile robot plays a vital role in the autonomous operation of the mobile robot. The vision based simultaneous localization and mapping (SLAM) is a widely known technique for tracking the movement of the camera in the unknown environment. This paper presents a robot's movement model which is based on the reference trajectory of the robot. The proposed model was compared with the state-of-the-art model used in the successful MonoSLAM system[8] and provided good results.