Development of a real-life EKF based SLAM system for mobile robots employing vision sensing

Authors:
Avishek Chatterjee;Olive Ray;Amitava Chatterjee;Anjan Rakshit
Affiliations:
Jadavpur University, Electrical Engineering Department, Kolkata 700 032, India;Jadavpur University, Electrical Engineering Department, Kolkata 700 032, India;Jadavpur University, Electrical Engineering Department, Kolkata 700 032, India;Jadavpur University, Electrical Engineering Department, Kolkata 700 032, India
Venue:
Expert Systems with Applications: An International Journal
Year:
2011

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Abstract

Developing real-life solutions for implementation of the simultaneous localization and mapping (SLAM) algorithm for mobile robots has been well regarded as a complex problem for quite some time now. Our present work demonstrates a successful real implementation of extended Kalman filter (EKF) based SLAM algorithm for indoor environments, utilizing two web-cam based stereo-vision sensing mechanism. The vision-sensing mechanism is a successful development of a real algorithm for image feature identification in frames grabbed from continuously running videos on two cameras, tracking of these identified features in subsequent frames and incorporation of these landmarks in the map created, utilizing a 3D distance calculation module. The system has been successfully test-run in laboratory environments where the robot is commanded to navigate through some specified waypoints and create a map of its surrounding environment. Our experimentations showed that the estimated positions of the landmarks identified in the map created closely tallies with the actual positions of these landmarks in real-life.