| Presentation | 2009-06-18 6DOF-SLAM Using Omnidirectional Stereo Vision with Sub-pixel Estimation Hiroshi KOYASU, Yamato FURUYA, Ryuichiro FUKASAWA, Hiroshi KAWASAKI, Hitoshi MAEKAWA, Shintaro ONO, Katsushi IKEUCHI, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | Simultaneous Localization and Mapping (SLAM) is one of the fundamental function of robots. For the problem, we present a new method based on an omnidirectional stereo system. Although omnidirectional stereo system has a great advantage to acquire 3D-information of surrounding environment at a time, the resolution of the image is not sufficient for accurate depth information. In our method, the accuracy of each range data by the stereo is improved by a sub-pixel estimation of disparities. Then, ICP is applied for aligning the range data during navigation. Finally, once the robot detects loop closure, the estimated error of the ICP is corrected by Kalman smoothing. Experimental results of the method are shown for an indoor environment. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Omnidirectional Stereo / Sub-pixel Estimation / SLAM / Closing Loop |
| Paper # | PRMU2009-43 |
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| Conference Information | |
| Committee | PRMU |
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| Conference Date | 2009/6/11(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Chair | |
| Vice Chair | |
| Secretary | |
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| Paper Information | |
| Registration To | Pattern Recognition and Media Understanding (PRMU) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | 6DOF-SLAM Using Omnidirectional Stereo Vision with Sub-pixel Estimation |
| Sub Title (in English) | |
| Keyword(1) | Omnidirectional Stereo |
| Keyword(2) | Sub-pixel Estimation |
| Keyword(3) | SLAM |
| Keyword(4) | Closing Loop |
| 1st Author's Name | Hiroshi KOYASU |
| 1st Author's Affiliation | Graduate School of Science and Engineering, Saitama Univ.() |
| 2nd Author's Name | Yamato FURUYA |
| 2nd Author's Affiliation | Graduate School of Science and Engineering, Saitama Univ. |
| 3rd Author's Name | Ryuichiro FUKASAWA |
| 3rd Author's Affiliation | Graduate School of Science and Engineering, Saitama Univ. |
| 4th Author's Name | Hiroshi KAWASAKI |
| 4th Author's Affiliation | Graduate School of Science and Engineering, Saitama Univ. |
| 5th Author's Name | Hitoshi MAEKAWA |
| 5th Author's Affiliation | Graduate School of Science and Engineering, Saitama Univ. |
| 6th Author's Name | Shintaro ONO |
| 6th Author's Affiliation | Institute of Industrial Science, The Univ. of Tokyo |
| 7th Author's Name | Katsushi IKEUCHI |
| 7th Author's Affiliation | Institute of Industrial Science, The Univ. of Tokyo |
| Date | 2009-06-18 |
| Paper # | PRMU2009-43 |
| Volume (vol) | vol.109 |
| Number (no) | 88 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |