Document Detail


Concurrent initialization for Bearing-Only SLAM.
MedLine Citation:
PMID:  22294884     Owner:  NLM     Status:  MEDLINE    
Abstract/OtherAbstract:
Simultaneous Localization and Mapping (SLAM) is perhaps the most fundamental problem to solve in robotics in order to build truly autonomous mobile robots. The sensors have a large impact on the algorithm used for SLAM. Early SLAM approaches focused on the use of range sensors as sonar rings or lasers. However, cameras have become more and more used, because they yield a lot of information and are well adapted for embedded systems: they are light, cheap and power saving. Unlike range sensors which provide range and angular information, a camera is a projective sensor which measures the bearing of images features. Therefore depth information (range) cannot be obtained in a single step. This fact has propitiated the emergence of a new family of SLAM algorithms: the Bearing-Only SLAM methods, which mainly rely in especial techniques for features system-initialization in order to enable the use of bearing sensors (as cameras) in SLAM systems. In this work a novel and robust method, called Concurrent Initialization, is presented which is inspired by having the complementary advantages of the Undelayed and Delayed methods that represent the most common approaches for addressing the problem. The key is to use concurrently two kinds of feature representations for both undelayed and delayed stages of the estimation. The simulations results show that the proposed method surpasses the performance of previous schemes.
Authors:
Rodrigo Munguía; Antoni Grau
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Publication Detail:
Type:  Journal Article; Research Support, Non-U.S. Gov't     Date:  2010-03-01
Journal Detail:
Title:  Sensors (Basel, Switzerland)     Volume:  10     ISSN:  1424-8220     ISO Abbreviation:  Sensors (Basel)     Publication Date:  2010  
Date Detail:
Created Date:  2012-02-07     Completed Date:  2012-06-05     Revised Date:  2013-05-29    
Medline Journal Info:
Nlm Unique ID:  101204366     Medline TA:  Sensors (Basel)     Country:  Switzerland    
Other Details:
Languages:  eng     Pagination:  1511-34     Citation Subset:  IM    
Affiliation:
Automatic Control Department, Technical University of Catalonia, c/ Pau Gargallo, 5 E-08028 Barcelona, Spain. rodrigo.munguia@upc.edu
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MeSH Terms
Descriptor/Qualifier:
Algorithms*
Artificial Intelligence*
Computer Simulation
Image Processing, Computer-Assisted
Robotics*

From MEDLINE®/PubMed®, a database of the U.S. National Library of Medicine


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