Appearance-Based Minimalistic Metric Slam

Research output: Contribution to conferencePaper

15 Citations (Scopus)

Abstract

This paper addresses the problem of Simultaneous Localization and Mapping (SLAM) for the case of very small, resource-limited robots which have poor odometry and can typically only carry a single monocular camera. We propose a modification to the standard SLAM algorithm in which the assumption that the robots can obtain metric distance/bearing information to landmarks is relaxed. Instead, the robot registers a distinctive sensor "signature", based on its current location, which is used to match robot positions. In our formulation of this non-linear estimation problem, we infer implicit position measurements from an image recognition algorithm. The Iterated form of the Extended Kalman Filter (IEKF) is employed to process all measurements.

Original languageEnglish (US)
Pages194-199
Number of pages6
StatePublished - Dec 26 2003
Event2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States
Duration: Oct 27 2003Oct 31 2003

Other

Other2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryUnited States
CityLas Vegas, NV
Period10/27/0310/31/03

Fingerprint

Robots
Bearings (structural)
Position measurement
Image recognition
Extended Kalman filters
Cameras
Sensors

Cite this

Rybski, P. E., Roumeliotis, S., Gini, M. L., & Papanikolopoulos, N. P. (2003). Appearance-Based Minimalistic Metric Slam. 194-199. Paper presented at 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, United States.

Appearance-Based Minimalistic Metric Slam. / Rybski, Paul E.; Roumeliotis, Stergios; Gini, Maria L; Papanikolopoulos, Nikolaos P.

2003. 194-199 Paper presented at 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, United States.

Research output: Contribution to conferencePaper

Rybski, PE, Roumeliotis, S, Gini, ML & Papanikolopoulos, NP 2003, 'Appearance-Based Minimalistic Metric Slam' Paper presented at 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, United States, 10/27/03 - 10/31/03, pp. 194-199.
Rybski PE, Roumeliotis S, Gini ML, Papanikolopoulos NP. Appearance-Based Minimalistic Metric Slam. 2003. Paper presented at 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, United States.
Rybski, Paul E. ; Roumeliotis, Stergios ; Gini, Maria L ; Papanikolopoulos, Nikolaos P. / Appearance-Based Minimalistic Metric Slam. Paper presented at 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, United States.6 p.
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