제어로봇시스템학회:학술대회논문집
- 2001.10a
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- Pages.101.1-101
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- 2001
Vision Based Map-Building Using Singular Value Decomposition Method for a Mobile Robot in Uncertain Environment
- Park, Kwang-Ho (Chonnam National Univ.) ;
- Kim, Hyung-O (Chonnam National Univ.) ;
- Kee, Chang-Doo (Chonnam National Univ.) ;
- Na, Seung-Yu (Chonnam National Univ.)
- Published : 2001.10.01
Abstract
This paper describes a grid mapping for a vision based mobile robot in uncertain indoor environment. The map building is a prerequisite for navigation of a mobile robot and the problem of feature correspondence across two images is well known to be of crucial Importance for vision-based mapping We use a stereo matching algorithm obtained by singular value decomposition of an appropriate correspondence strength matrix. This new correspondence strength means a correlation weight for some local measurements to quantify similarity between features. The visual range data from the reconstructed disparity image form an occupancy grid representation. The occupancy map is a grid-based map in which each cell has some value indicating the probability at that location ...
Keywords