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Autonomous indoor exploration with an event-based visual SLAM system

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3 Author(s)
Hoffmann, R. ; Dept. of Electr. Eng. & Inf. Technol., Tech. Univ. Munchen, München, Germany ; Weikersdorfer, D. ; Conradt, J.

In this paper we present an autonomous mobile robot setting that automatically explores and maps unknown indoor environments, exclusively with information from an embedded event-based dynamic vision sensor (eDVS) and a ring of bump switches on the robot. The eDVS provides a sparse pre-processed visual signature of the currently visible patch of ceiling, which is used for real-time simultaneous localization and mapping (SLAM). Signals from the robot's bump switches together with its current position estimate continuously improve the system's reasoning about traversable areas. A heuristic path planning method motivated by the A* search algorithm generates routes for continuous autonomous exploration. We demonstrate robust real-time operation and evaluate the performance of our system in various indoor environments.

Published in:

Mobile Robots (ECMR), 2013 European Conference on

Date of Conference:

25-27 Sept. 2013