Visual Environment Mapping for Mobile Robot Navigation

被引：0

作者：

Chang, Wen-Chung ^{[1
]}

Ling, Huan-Chen ^{[1
]}

机构：

[1] Natl Taipei Univ Technol, Dept Elect Engn, NTUT Box 2125, Taipei 106, Taiwan

来源：

2014 10TH FRANCE-JAPAN/ 8TH EUROPE-ASIA CONGRESS ON MECATRONICS (MECATRONICS) | 2014年

关键词：

SLAM; MAPS; 3D;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In order to successfully navigate mobile robots in an unknown environment, an appropriate navigation strategy must be employed. Such a strategy certainly relies on an effective navigation map based on which robot trajectories can be well planned. The navigation map can be built based on a sparse map constructed by a visual simultaneous localization and mapping (VSLAM) algorithm. This paper presents a map conversion strategy to build a 3D navigation map employing a scout robot equipped with an onboard camera. According to the 3D navigation map, ground path planning can be accomplished by a proper navigation strategy. The proposed map conversion strategy has been successfully validated by experimenting with a mobile robot in an indoor laboratory environment.

引用

页码：244 / 249

页数：6

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