<abstract xml:lang="en" xmlns="http://www.w3.org/1999/xhtml"><p>This work proposes a SLAM (<italic>Simultaneous Localization And Mapping</italic>) solution based on an Extended Kalman Filter (EKF) in order to enable a robot to navigate along the environment using information from odometry and pre-existing lines on the floor. These lines are recognized by a Hough transform and are mapped into world measurements using a homography matrix. The prediction phase of the EKF is developed using an odometry model of the robot, and the updating makes use of the line parameters in Kalman equations without any intermediate stage for calculating the distance or the position. We show two experiments (indoor and outdoor) dealing with a real robot in order to validate the project.</p></abstract>

This work proposes a SLAM (Simultaneous Localization And Mapping) solution based on an Extended Kalman Filter (EKF) in order to enable a robot to navigate along the environment using information from odometry and pre-existing lines on the floor. These lines are recognized by a Hough transform and are mapped into world measurements using a homography matrix. The prediction phase of the EKF is developed using an odometry model of the robot, and the updating makes use of the line parameters in Kalman equations without any intermediate stage for calculating the distance or the position. We show two experiments (indoor and outdoor) dealing with a real robot in order to validate the project.

Straight-lines modelling using planar information for monocular SLAM

Department of Informatics and Statistics, Federal University of Piauí, Teresina, PI, 64049-550, Brasil

Department of Computer Engineering and Automation, Federal University of Rio Grande do Norte, Natal, RN, 59078-970, Brasil

International Journal of Applied Mathematics and Computer Science

{"article-title":"Straight-lines modelling using planar information for monocular SLAM"}

This work proposes a SLAM (Simultaneous Localization And Mapping) solution based on an Extended Kalman Filter (EKF) in order to enable a robot to navigate...

Straight-lines modelling using planar information for monocular SLAM

Pubblicato online: 28 giu 2012

Pagine: 409 - 421

DOI: https://doi.org/10.2478/v10006-012-0031-8

Parole chiave
SLAM, Kalman filter, Hough transform, monocular vision

This content is open access.

Straight-lines modelling using planar information for monocular SLAM

Pubblicato online: 28 giu 2012

Pagine: 409 - 421

DOI: https://doi.org/10.2478/v10006-012-0031-8

Parole chiaveSLAM, Kalman filter, Hough transform, monocular vision

This content is open access.

Parole chiave
SLAM, Kalman filter, Hough transform, monocular vision