Scheduled System Maintenance:
On May 6th, single article purchases and IEEE account management will be unavailable from 8:00 AM - 12:00 PM ET (12:00 - 16:00 UTC). We apologize for the inconvenience.
By Topic

Monocular Vision-Based SLAM in Indoor Environment Using Corner, Lamp, and Door Features From Upward-Looking Camera

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Seo-Yeon Hwang ; Sch. of Mech. Eng., Korea Univ., Seoul, South Korea ; Jae-Bok Song

We examine monocular vision-based simultaneous localization and mapping (SLAM) of a mobile robot using an upward-looking camera. Although a monocular camera looking up toward the ceiling can provide a low-cost solution to indoor SLAM, this approach is often unable to achieve dependable navigation due to a lack of reliable visual features on the ceiling. We propose a novel approach to monocular SLAM using corner, lamp, and door features simultaneously to achieve stable navigation in various environments. We use the corner features and the circular-shaped brightest parts of the ceiling image for detection of lamp features. Furthermore, vertical and horizontal lines are combined to robustly detect line-based door features to reduce the problem that line features can be easily misidentified due to nearby edges. The use of these three types of features as landmarks increases our ability to observe the features in various environments and maintains the stability of the SLAM process. A series of experiments in indoor environments showed that the proposed scheme resulted in dependable navigation.

Published in:

Industrial Electronics, IEEE Transactions on  (Volume:58 ,  Issue: 10 )