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http://dx.doi.org/10.5302/J.ICROS.2009.15.4.353

Indoor Single Camera SLAM using Fiducial Markers  

Lim, Hyon (인하대학교 전기공학부)
Yang, Ji-Hyuck (인하대학교 전기공학부)
Lee, Young-Sam (인하대학교 전기공학부)
Kim, Jin-Geol (인하대학교 전기공학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.15, no.4, 2009 , pp. 353-364 More about this Journal
Abstract
In this paper, a SLAM (Simultaneous Localization and Mapping) method using a single camera and planar fiducial markers is proposed. Fiducial markers are planar patterns that are mounted on the ceiling or wall. Each fiducial marker has a unique hi-tonal identification pattern with square outlines. It can be printed on paper to reduce cost or it can be painted using retro-reflective paint in order to make invisible and prevent undesirable visual effects. Existing localization methods using artificial landmarks have the disadvantage that landmark locations must be known a priori. In contrast, the proposed method can build a map and estimate robot location even if landmark locations are not known a priori. Hence, it reduces installation time and setup cost. The proposed method works good even when only one fiducial marker is seen at a scene. We perform computer simulation to evaluate proposed method.
Keywords
SLAM; fiducial marker; mobile robot; extended Kalman filter; localization; map building;
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