Using a RGB-D camera for 6DoF SLAM

被引：0

作者：

Munoz, Jose ^{[1
]}

Pastor, Daniel ^{[1
]}

Gil, Pablo ^{[1
]}

Puente, Santiago ^{[1
]}

Cazorla, Miguel ^{[1
]}

机构：

[1] Univ Alicante, Comp Sci Res Inst, Alicante, Spain

来源：

ARTIFICIAL INTELLIGENCE RESEARCH AND DEVELOPMENT | 2012年 / 248卷

关键词：

visual features; 3D data; RGB-D data; SLAM;

D O I：

10.3233/978-1-61499-139-7-143

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper presents a method for fast calculation of the egomotion done by a robot using visual features. The method is part of a complete system for automatic map building and Simultaneous Localization and Mapping (SLAM). The method uses optical flow in order to determine if the robot has done a movement. If so, some visual features which do not accomplish several criteria (like intersection, unicity, etc,) are deleted, and then the egomotion is calculated. We use a state-of-the-art algorithm (TORO) in order to rectify the map and solve the SLAM problem. The proposed method provides better efficiency that other current methods.

引用

页码：143 / +

页数：2

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