Uma Abordagem Baseada em Retas para SLAM em Ambientes Planos Usando Visão Monocular (A Straight-Based Approach to SLAM in Plan Environments Using Monocular Vision)

ANDRE SANTANA (andremacedo@ufpi.edu.br)1, ADELARDO MEDEIROS (adelardo@dca.ufrn.br)2


1UNIVERSIDADE FEDERAL DO PIUAÍ
2UNIVERSIDADE FEDERAL DO RIO GRANDE DO NORTE

This paper appears in: Revista IEEE América Latina

Publication Date: June 2011
Volume: 9,   Issue: 3 
ISSN: 1548-0992


Abstract:
This work proposes a SLAM (Simultaneous Localization and Mapping) technique based on Extended Kalman Filter (EKF) to navigate a robot in a plane environment using odometry and pre-existing lines on the floor as landmarks. The lines are identified by using the Hough transform and are mapped to world coordinates using homography matrix. The prediction phase of the EKF is implemented using the odometry model of the robot. The update phase directly uses the parameters of the lines detected by the Hough transform without additional intermediate calculations. Experiments with real data are presented.

Index Terms:
SLAM, Kalman Filter, HoughTransform,Monocular Vision   


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