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http://dx.doi.org/10.5302/J.ICROS.2010.16.1.040

SLAM with Visually Salient Line Features in Indoor Hallway Environments  

An, Su-Yong (포항공과대학교 전자전기공학과)
Kang, Jeong-Gwan (포항공과대학교 전자전기공학과)
Lee, Lae-Kyeong (포항공과대학교 전자전기공학과)
Oh, Se-Young (포항공과대학교 전자전기공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.16, no.1, 2010 , pp. 40-47 More about this Journal
Abstract
This paper presents a simultaneous localization and mapping (SLAM) of an indoor hallway environment using Rao-Blackwellized particle filter (RBPF) along with a line segment as a landmark. Based on the fact that fluent line features can be extracted around the ceiling and side walls of hallway using vision sensor, a horizontal line segment is extracted from an edge image using Hough transform and is also tracked continuously by an optical flow method. A successive observation of a line segment gives initial state of the line in 3D space. For data association, registered feature and observed feature are matched in image space through a degree of overlap, an orientation of line, and a distance between two lines. Experiments show that a compact environmental map can be constructed with small number of horizontal line features in real-time.
Keywords
RBPF; SLAM; line features; mobile robot;
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