期刊
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
卷 66, 期 1, 页码 318-328出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2018.2826471
关键词
Efficient simultaneous localization and mapping (SLAM); embedded system; indoor service robot; monocular vision
资金
- LG Electronics, Inc., Seoul, South Korea
- Brain Korea 21 Plus Project - National Research Foundation of Korea
This paper presents a new implementation method for efficient simultaneous localization and mapping using a forward-viewing monocular vision sensor. The method is developed to be applicable in real time on a low-cost embedded system for indoor service robots. In this paper, the orientation of a robot is directly estimated using the direction of the vanishing point. Then, the estimation models for the robot position and the line landmark are derived as simple linear equations. Using these models, the camera poses and landmark positions are efficiently corrected by a local map correction method. The performance of the proposed method is demonstrated under various challenging environments using dataset-based experiments using a desktop computer and real-time experiments using a low-cost embedded system. The experimental environments include a real home-like setting. These conditions contain low-textured areas, moving people, or changing environments. The proposed method is also tested using the robotics advancement through web publishing of sensorial and elaborated extensive datasets benchmark dataset.
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