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Implementation of the SLAM System Using a Single Vision and Distance Sensors  

Yoo, Sung-Goo (Control and Instrumentation Department, Chonbuk National University)
Chong, Kil-To (Electronics and Information Department, Chonbuk National University)
Publication Information
Journal of the Institute of Electronics Engineers of Korea SC / v.45, no.6, 2008 , pp. 149-156 More about this Journal
Abstract
SLAM(Simultaneous Localization and Mapping) system is to find a global position and build a map with sensing data when an unmanned-robot navigates an unknown environment. Two kinds of system were developed. One is used distance measurement sensors such as an ultra sonic and a laser sensor. The other is used stereo vision system. The distance measurement SLAM with sensors has low computing time and low cost, but precision of system can be somewhat worse by measurement error or non-linearity of the sensor In contrast, stereo vision system can accurately measure the 3D space area, but it needs high-end system for complex calculation and it is an expensive tool. In this paper, we implement the SLAM system using a single camera image and a PSD sensors. It detects obstacles from the front PSD sensor and then perceive size and feature of the obstacles by image processing. The probability SLAM was implemented using the data of sensor and image and we verify the performance of the system by real experiment.
Keywords
localization; mapping; single vision; probability;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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