Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
권호 표지

Vision-based Autonomous Semantic Map Building and Robot Localization

영상 기반 자율적인 Semantic Map 제작과 로봇 위치 지정

  • 임정훈 (한양대학교 정보통신대학원) ;
  • 정승도 (한양대학교 전자통신컴퓨터공학과) ;
  • 서일홍 (한양대학교 정보통신대학원) ;
  • 최병욱 (한양대학교 정보통신대학원)
  • Published : 2005.10.28
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Abstract

An autonomous semantic-map building method is proposed, with the robot localized in the semantic-map. Our semantic-map is organized by objects represented as SIFT features and vision-based relative localization is employed as a process model to implement extended Kalman filters. Thus, we expect that robust SLAM performance can be obtained even under poor conditions in which localization cannot be achieved by classical odometry-based SLAM

Keywords