Stereovision depth analysis by two-dimensional motion charge memories
Pattern Recognition Letters
Dynamic visual attention model in image sequences
Image and Vision Computing
MonoSLAM: Real-Time Single Camera SLAM
IEEE Transactions on Pattern Analysis and Machine Intelligence
Omnidirectional Vision Based Topological Navigation
International Journal of Computer Vision
A Study of the Rao-Blackwellised Particle Filter for Efficient and Accurate Vision-Based SLAM
International Journal of Computer Vision
Expert Systems with Applications: An International Journal
Autonomous vision-based robotic exploration and mapping using hybrid maps and particle filters
Image and Vision Computing
Edge landmarks in monocular SLAM
Image and Vision Computing
Stereo vision specific models for particle filter-based SLAM
Robotics and Autonomous Systems
A comparison of loop closing techniques in monocular SLAM
Robotics and Autonomous Systems
Three-dimensional mapping with time-of-flight cameras
Journal of Field Robotics - Three-Dimensional Mapping, Part 2
Expert Systems with Applications: An International Journal
Probabilistic structure matching for visual SLAM with a multi-camera rig
Computer Vision and Image Understanding
Bridging the gap between feature- and grid-based SLAM
Robotics and Autonomous Systems
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Selecting good corners for structure and motion recovery using a time-of-flight camera
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Expert Systems with Applications: An International Journal
Real-time hierarchical stereo Visual SLAM in large-scale environments
Robotics and Autonomous Systems
Improved 3D reconstruction in smart-room environments using ToF imaging
Computer Vision and Image Understanding
Real-time human segmentation in infrared videos
Expert Systems with Applications: An International Journal
Agent-oriented modeling and development of a person-following mobile robot
Expert Systems with Applications: An International Journal
Development of a real-life EKF based SLAM system for mobile robots employing vision sensing
Expert Systems with Applications: An International Journal
Large-Scale 6-DOF SLAM With Stereo-in-Hand
IEEE Transactions on Robotics
| Hi-index | 12.05 |
A map building algorithm for mobile robots is introduced in this paper. The perceived environment is represented in a map containing in each cell a probability of presence of an object or part of an object. The environment is represented as a collection of modular occupancy grids which are added to the map as far as the mobile robot finds objects outside the existing grids. In this approach a time-of-flight (ToF) camera is exploited as a range sensor for mapping. Indeed, one of the areas where ToF sensors are adequate is in obstacle avoidance, because the detection region is not only horizontal but also vertical, allowing to detect obstacles with complex shapes. The main steps of the map building algorithm are extensively described in the paper. The results of testing the algorithm are considered in two different indoor environments.