Vision-Based Multi-Robot Simultaneous Localization and Mapping

Authors:
Affiliations:
Venue:
CRV '04 Proceedings of the 1st Canadian Conference on Computer and Robot Vision
Year:
2004

Citing 3
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Abstract

In this paper we present a vision-based approachfor the multi-robot Simultaneous Localization andMapping (SLAM) problem. We study the case of ateam of robots equipped with a single camera andcollaborating in the same worksite. We propose tocalculate the location of the robots by using a collectionof sparse views of the planar surface on whichthese robots are moving. The camera motions are estimatedusing inter-image homographies computedfrom the matching of overhead transformed views.Results of map generated from the estimated robotlocations are presented.