로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제4권4호
  • /
  • Pages.305-311
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  • 2009
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  • 1975-6291(pISSN)
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  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
권호 표지

실내 환경에서 Infrared 카메라를 이용한 실용적 FastSLAM 구현 방법

A Practical FastSLAM Implementation Method using an Infrared Camera for Indoor Environments

  • 장헤이롱 (삼성전자DMC사업부) ;
  • 이헌철 (서울대학교 전기컴퓨터공학부) ;
  • 이범희 (서울대학교 전기컴퓨터공학부)
  • 투고 : 2009.09.30
  • 심사 : 2009.11.23
  • 발행 : 2009.11.30
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초록

FastSLAM is a factored solution to SLAM problem using a Rao-Blackwellized particle filter. In this paper, we propose a practical FastSLAM implementation method using an infrared camera for indoor environments. The infrared camera is equipped on a Pioneer3 robot and looks upward direction to the ceiling which has infrared tags with the same height. The infrared tags are detected with theinfrared camera as measurements, and the Nearest Neighbor method is used to solve the unknown data association problem. The global map is successfully built and the robot pose is predicted in real time by the FastSLAM2.0 algorithm. The experiment result shows the accuracy and robustness of the proposed method in practical indoor environment.

키워드

참고문헌

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