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
收藏
页码：143 / +
页数：2
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