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Paper Abstract and Keywords
Presentation 2008-11-28 09:30
Simultaneous Localization and Mapping Using Monocular and Binocular Estimators
Yusuke Sakaguchi, Hajime Nagahara (Osaka Univ.), Masahiko Yachida (Osaka Institute of Tech.) PRMU2008-134 MVE2008-83
Abstract (in Japanese) (See Japanese page) 
(in English) It is the important task to get both an environmental map and a robot position for robot navigation. Many researchers have proposed algorithms for Simultaneous Localization and Mapping(SLAM) problems. Vision Based SLAM methods are classified into two approaches, monocular and binocular. However, both approaches have merits and demerits respectively, such as stereo mathcing and scale factor problems. In this paper, we propose a combined method with monocular and binocular to estimate a robot egomotion with high accuracy and a dense environment map. We also showed the advantage of the proposed method in simulated and real experiments.
Keyword (in Japanese) (See Japanese page) 
(in English) Localization / Mapping / Monocular / Binocular / Hybrid / / /  
Reference Info. IEICE Tech. Rep., vol. 108, no. 327, PRMU2008-134, pp. 161-168, Nov. 2008.
Paper # PRMU2008-134 
Date of Issue 2008-11-20 (PRMU, MVE) 
ISSN Print edition: ISSN 0913-5685  Online edition: ISSN 2432-6380
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
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Conference Information
Committee PRMU MVE  
Conference Date 2008-11-27 - 2008-11-28 
Place (in Japanese) (See Japanese page) 
Place (in English) Osaka Univ. 
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To PRMU 
Conference Code 2008-11-PRMU-MVE 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Simultaneous Localization and Mapping Using Monocular and Binocular Estimators 
Sub Title (in English)  
Keyword(1) Localization  
Keyword(2) Mapping  
Keyword(3) Monocular  
Keyword(4) Binocular  
Keyword(5) Hybrid  
1st Author's Name Yusuke Sakaguchi  
1st Author's Affiliation Osaka University (Osaka Univ.)
2nd Author's Name Hajime Nagahara  
2nd Author's Affiliation Osaka University (Osaka Univ.)
3rd Author's Name Masahiko Yachida  
3rd Author's Affiliation Osaka Institute of Technology (Osaka Institute of Tech.)
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Date Time 2008-11-28 09:30:00 
Presentation Time 30 
Registration for PRMU 
Paper # IEICE-PRMU2008-134,IEICE-MVE2008-83 
Volume (vol) IEICE-108 
Number (no) no.327(PRMU), no.328(MVE) 
Page pp.161-168 
#Pages IEICE-8 
Date of Issue IEICE-PRMU-2008-11-20,IEICE-MVE-2008-11-20 

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