Journal
ROBOTICS AND AUTONOMOUS SYSTEMS
Volume 58, Issue 8, Pages 991-1002Publisher
ELSEVIER
DOI: 10.1016/j.robot.2010.03.016
Keywords
Mobile robots; Stereo vision; Tracking
Funding
- Spanish Ministry of Education and Science (MEC) [TRA2005-08529-C02, PSE-370100-2007-2]
- Community of Madrid [CM. S-0505/DPI/000176]
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In this paper we present a new real-time hierarchical (topological/metric) Visual SLAM system Focusing on the localization of a vehicle in large-scale outdoor urban environments It is exclusively based on the visual information provided by a cheap wide-angle stereo camera. Our approach divides the whole map into local sub-maps identified by the so-called fingerprints (vehicle poses). At the sub-map level (low level SLAM), 3D sequential mapping of natural landmarks and the robot location/orientation are obtained using a top-down Bayesian method to model the dynamic behavior A higher topological level (high level SLAM) based on fingerprints has been added to reduce the global accumulated drift, keeping real-time constraints. Using this hierarchical strategy, we keep the local consistency of the metric sub-maps, by mean of the EKF, and global consistency by using the topological map and the MultiLevel Relaxation (MLR) algorithm. Some experimental results for different large-scale outdoor environments are presented, showing an almost constant processing time. (C) 2010 Elsevier B V All rights reserved.
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