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http://dx.doi.org/10.5391/JKIIS.2010.20.1.060

Real-Time Mapping of Mobile Robot on Stereo Vision  

Han, Cheol-Hun (중앙대학교 전자전기공학부)
Sim, Kwee-Bo (중앙대학교 전자전기공학부)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.20, no.1, 2010 , pp. 60-65 More about this Journal
Abstract
This paper describes the results of 2D mapping, feature detection and matching to create the surrounding environment in the mounted stereo camera on Mobile robot. Extract method of image's feature in real-time processing for quick operation uses the edge detection and Sum of Absolute Difference(SAD), stereo matching technique can be obtained through the correlation coefficient. To estimate the location of a mobile robot using ZigBee beacon and encoders mounted on the robot is estimated by Kalman filter. In addition, the merged gyro scope to measure compass is possible to generate map during mobile robot is moving. The Simultaneous Localization and Mapping (SLAM) of mobile robot technology with an intelligent robot can be applied efficiently in human life would be based.
Keywords
Sum of Absolute Difference(SAD); Simultaneous Localization and Mapping (SLAM);
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Times Cited By KSCI : 2  (Citation Analysis)
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