Browse > Article
http://dx.doi.org/10.4218/etrij.14.0114.0584

Multi-robot Mapping Using Omnidirectional-Vision SLAM Based on Fisheye Images  

Choi, Yun-Won (IT Convergence Technology Research Laboratory, ETRI)
Kwon, Kee-Koo (IT Convergence Technology Research Laboratory, ETRI)
Lee, Soo-In (IT Convergence Technology Research Laboratory, ETRI)
Choi, Jeong-Won (Department of Automatic Electrical Engineering, Yeungnam College of Science & Technology)
Lee, Suk-Gyu (Department of Electrical Engineering, Yeungnam University)
Publication Information
ETRI Journal / v.36, no.6, 2014 , pp. 913-923 More about this Journal
Abstract
This paper proposes a global mapping algorithm for multiple robots from an omnidirectional-vision simultaneous localization and mapping (SLAM) approach based on an object extraction method using Lucas-Kanade optical flow motion detection and images obtained through fisheye lenses mounted on robots. The multi-robot mapping algorithm draws a global map by using map data obtained from all of the individual robots. Global mapping takes a long time to process because it exchanges map data from individual robots while searching all areas. An omnidirectional image sensor has many advantages for object detection and mapping because it can measure all information around a robot simultaneously. The process calculations of the correction algorithm are improved over existing methods by correcting only the object's feature points. The proposed algorithm has two steps: first, a local map is created based on an omnidirectional-vision SLAM approach for individual robots. Second, a global map is generated by merging individual maps from multiple robots. The reliability of the proposed mapping algorithm is verified through a comparison of maps based on the proposed algorithm and real maps.
Keywords
Omnidirectional-vision SLAM; fisheye lens; optical flow;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
연도 인용수 순위
1 H. Tan, Q. Liao, and J. Zhang, "An Improved Algorithm of Multiple Robots Cooperation in Obstacle Existing Environment," IEEE Int. Conf. Rotot. Biomimetics, Sanya, China, Dec. 15-18, 2007, pp. 1001-1006.
2 C.G. Majumder, R. Janarthanan, and T.G. Majumder, "Cooperating a Blind Robot Teammate through Vision Based Real-Time Communication," Int. Multi-conf. iMac4s, Kottayam, India, Mar. 2013, pp. 59-64.
3 S.R. Moon et al., "Leader-Following Approach Based Adaptive Formation Control for Mobile Robots with Unknown Parameters," Trans. Korean Institute Electr. Eng., vol. 60, no. 8, Aug. 2011, pp. 1592-1598.   DOI
4 G.H. Eoh et al., "Multi-robot Cooperative Formation for Overweight Object Transportation," IEEE/SICE Int. Symp. Syst. Integr., Kyoto, Japan, Dec. 20-22, 2011, pp. 726-731.
5 Y. Touahmi et al., "Congestion Avoidance for Multiple Microrobots Using the Behavior of Fish Schools," Int. J. Adv. Robot. Syst., vol. 9, Sept. 2012, pp. 1-12.
6 L. Chaimowicz et al., "Experiments in Multirobot Air-ground Coordination," IEEE Int. Conf. Robot. Autom., New Orleans, LA, USA, vol. 4, Apr. 26-May 1, 2004, pp. 4053-4058.
7 O. Shakemia, R. Vidal, and S. Sastry, "Multibody Motion Estimation and Segmentation from Multiple Central Panoramic Views," IEEE Int. Conf. ICRA, Taipei, Taiwan, vol. 1, Sept. 2003, pp. 571-576.
8 Y. Yagi, "Omni-directional Sensing and its Applications," IEICE Trans., vol. E82-D, no. 3, Mar. 1999, pp. 568-579.
9 T.E. Boult et al., "Frame-Rate Omnidirectional Surveillance and Tracking of Camouflaged and Occluded Targets," IEEE Workshop Vis. Surveillance, Fort Collins, CO, USA, July 1999, pp. 48-55.
10 V.N. Peri and S.K. Nayar, "Generation of Perspective and Panoramic Video from Omnidirectional Video," DARPA Image Understanding Workshop, New Orleans, LA, USA, May 1997.
11 K. Miyamoto, "Fish Eye Lens," J. Opt. Soc. America, vol. 54, no. 8, Aug. 1, 1964, pp. 1060-1061.   DOI
12 A. Basu and S. Licardie, "Alternative Models for Fish-Eye Lenses," Pattern Recogn., vol. 16, no. 4, Apr. 1995, pp. 433-441.   DOI   ScienceOn
13 A. Marjovi, S. Choobdar, and L. Marques, "Robotic Clusters: Multi-robot Systems as Computer Clusters: A Topological Map Merging Demonstration," Robot. Auton. Syst., vol. 60, no. 9, Sept. 2012, pp. 1191-1204.   DOI
14 T.D. Nguyen et al., "A Novel Interaction Method for Mobile Devices Using Low Complexity Global Motion Estimation," ETRI J., vol. 34, no. 5, Oct. 2012, pp. 734-742.   DOI   ScienceOn
15 T. Fukuda et al., "Navigation System Based on Ceiling Landmark Recognition for Autonomous Mobile Robot-Landmark Detection Based on Fuzzy Template Matching (FTM)," Proc. IEEE/RSJ Int. Conf., Pittsburgh, PA, USA, vol. 2, Aug. 1995, pp. 150-155.
16 J. Gaspar, N. Winters, and J. Santos-Victor, "Vision-Based Navigation and Environmental Representations with an Omnidirectional Camera," IEEE Trans. Robot. Autom., vol. 16, no. 6, Dec. 2000, pp. 890-898.   DOI
17 A. Bakowski and G.A. Jones, "Video Surveillance Tracking Using Color Region Adjacency Graphs," Image Process. Appl., Conf., Manchester, UK, vol. 2, no. 465, 1999, pp. 794-798.
18 H. Tao, H.S. Sawhney, and R. Kumar, "Object Tracking with Bayesian Estimation of Dynamic Layer Representations," IEEE Trans. Pattern Anal. Mach. Intell., vol. 24, no. 1, Jan. 2002, pp. 75-89.   DOI   ScienceOn
19 W.Y. Jeong and K.M. Lee, "CV-SLAM: A New Ceiling Vision-Based SLAM Technique," IEEE/RSJ Int. Conf. Intell. Robot. Syst., Edmonton, Canada, Aug. 2-6, 2005, pp. 3195-3200.
20 Y. Yagi et al., "Iconic Memory-Based Omnidirectional Route Panorama Navigation," IEEE Trans. Pattern Anal. Mach. Intell., vol. 27, no. 1, Jan. 2005, pp. 78-87.   DOI
21 J.C. Jeong et al., "High-Quality Stereo Depth Map Generation Using Infrared Pattern Projection," ETRI J., vol. 35, no. 6, Dec. 2013, pp. 1011-1020.   DOI
22 H.J. Sohn and B.K. Kim, "An Efficient Localization Algorithm Based on Vector Matching for Mobile Robots Using Laser Range Finders," J. Intell. Robot. Syst., vol. 51, no. 4, 2008, pp. 461-488.   DOI
23 J.R. Kim, M.-S. Lim, and J.-H. Lim, "Omni Camera Vision-Based Localization for Mobile Robots Navigation Using Omnidirectional Images," J. Institute Contr., Robot. Syst., vol. 17, no. 3, Oct. 2011, pp. 206-210.   DOI   ScienceOn
24 R.L. Graham, "An Efficient Algorithm for Determining the Convex Hull of a Finite Planar Set," Inf. Process. Lett., vol. 1, no. 4, 1972, pp. 132-133.   DOI   ScienceOn
25 Y.W. Choi et al., "Localization Using Ego Motion Based on Fisheye Warping Image," J. Institute Contr., Robot. Syst., vol. 20, no. 1, June 2014, pp. 70-77.   DOI
26 G. Tong and Z. Wu., "An Omni-directional vSLAM Based on Spherical Camera Model and 3D Modeling," Proc. World Congress Intell. Contr. Autom., Beijing, China, July 6-8, 2012, pp. 4551-4556.
27 S.J. Yoon et al., "Global Localization of Mobile Robots Using Omni-directional Images," Trans. KSME, vol. 31, no. 4, Apr. 2007, pp. 517-524.
28 T. Goedeme et al., "Omnidirectional Vision Based Topological Navigation," Int. J. Comput. Vision, vol. 74, no. 3, Sept. 2007, pp. 219-236.   DOI
29 E. Menegatti et al., "Omnidirectional Vision Scan Matching for Robot Localization in Dynamic Environments," IEEE Trans. Robot., vol. 22, no. 3, June 2006, pp. 523-535.   DOI
30 S. Thrun, "A Probabilistic Online Mapping Algorithm for Teams of Mobile Robots," Int. J. Robot. Res., vol. 20, no. 5, May 2001, pp. 335-363.   DOI
31 Z. Wei, G. Huang, and D. Wang, "The Research on Multi-robot Simultaneous Localization Mapping Algorithm," IEEE Int. Conf. Autom. Logistics, Jinan, China, Aug. 18-21, 2007, pp. 1241-1246.
32 C. Cai et al., "Collision Avoidance in Multi-robot Systems," Int. Conf. Mechatronics, Autom., Harbin, China, Aug. 5-8, 2007, pp. 2795-2800.
33 A. Souliman et al., "Real Time Control of Multi-agent Mobile Robots with Intelligent Collision Avoidance System," Sci. Inf. Conf., London, UK, Oct. 7-9, 2013, pp. 93-98.
34 J.W. Kwon and D.K. Chwa., "Hierarchical Formation Control Based on a Vector Field Method for Wheeled Mobile Robots," IEEE Trans. Robot., vol. 28, no. 6, Dec. 2012, pp. 1335-1345.   DOI
35 J. Liu et al., "Optimal Formation of Robots by Convex Hull and Particle Swarm Optimization," IEEE Symp. Comput. Intell. Contr. Autom., Apr. 16-19, 2013, pp. 104-111.