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Appearance-Based SLAM Relying on a Hybrid Laser/Omnidirectional Sensor

Gabriela Gallegos 1 Maxime Meilland 1 Andrew I. Comport 2 Patrick Rives 3
1 AROBAS - Advanced Robotics and Autonomous Systems
CRISAM - Inria Sophia Antipolis - Méditerranée
3 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE, Inria Rennes – Bretagne Atlantique , CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : This paper describes an efficient hybrid laser/vision appearance-based approach to provide a mobile robot with rich 3D information about its environment. By combining the information from an omnidirectional camera and a laser range finder, reliable 3D positioning and an accurate 3D representation of the environment is obtained subject to illumination changes even in the presence of occluding and moving objects. A scan matching technique is used to initialize the tracking algorithm in order to ensure rapid convergence and reduce computational cost. The proposed method is validated in an indoor environment using data taken from a mobile robot equipped with a 2D laser range finder and an omnidirectional camera.
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https://hal.archives-ouvertes.fr/hal-01357377
Contributor : Andrew Comport <>
Submitted on : Monday, August 29, 2016 - 4:35:37 PM
Last modification on : Thursday, March 5, 2020 - 12:20:25 PM

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Gabriela Gallegos, Maxime Meilland, Andrew I. Comport, Patrick Rives. Appearance-Based SLAM Relying on a Hybrid Laser/Omnidirectional Sensor. IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2010, Taipei, Taiwan. ⟨10.1109/IROS.2010.5651271⟩. ⟨hal-01357377⟩

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