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V-SLAM: Vision-based simultaneous localization and map building for an autonomous mobile robot

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2 Author(s)
Savaria, D.T. ; Univ. of Massachusetts Dartmouth, Dartmouth, MA, USA ; Balasubramanian, R.

Simultaneous localization and map building (SLAM) is a desired feature for autonomous mobile robots. This SLAM approach allows the robot to create a map on the fly and then backtrack to further explore the area without human interaction. Data from the robot's encoder and sonar sensors are used along with depth information from a stereo camera vision system to explore and map the surroundings. The Speeded Up Robust Features algorithm (SURF) is used to visually identify landmarks in the environment.

Published in:

Multisensor Fusion and Integration for Intelligent Systems (MFI), 2010 IEEE Conference on

Date of Conference:

5-7 Sept. 2010