Straight-lines modelling using planar information for monocular SLAM

André M. Santana; Adelardo A.D. Medeiros

International Journal of Applied Mathematics and Computer Science (2012)

  • Volume: 22, Issue: 2, page 409-421
  • ISSN: 1641-876X

Abstract

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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.

How to cite

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André M. Santana, and Adelardo A.D. Medeiros. "Straight-lines modelling using planar information for monocular SLAM." International Journal of Applied Mathematics and Computer Science 22.2 (2012): 409-421. <http://eudml.org/doc/208118>.

@article{AndréM2012,
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.},
author = {André M. Santana, Adelardo A.D. Medeiros},
journal = {International Journal of Applied Mathematics and Computer Science},
keywords = {SLAM; Kalman filter; Hough transform; monocular vision},
language = {eng},
number = {2},
pages = {409-421},
title = {Straight-lines modelling using planar information for monocular SLAM},
url = {http://eudml.org/doc/208118},
volume = {22},
year = {2012},
}

TY - JOUR
AU - André M. Santana
AU - Adelardo A.D. Medeiros
TI - Straight-lines modelling using planar information for monocular SLAM
JO - International Journal of Applied Mathematics and Computer Science
PY - 2012
VL - 22
IS - 2
SP - 409
EP - 421
AB - 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.
LA - eng
KW - SLAM; Kalman filter; Hough transform; monocular vision
UR - http://eudml.org/doc/208118
ER -

References

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