Visual SLAM Based on EKF Filtering Algorithm from Omnidirectional Camera

摘要：

　　The SLAM(simultaneous localization and mapping) problem is one of the essential challenges in mobile robotics.In this paper, we integrate a method to solve the visual SLAM problem based on the extended Kalman filter (EKF) algorithm with an omnidirectional camera.The features in environment around the mobile sensor are extracted by a high-speed comer detection method using omnidirectional vision.We use the spherical camera to get the geometric information from the image sequences.Due to the large field of view, we can obtain robust estimates.The simulation result indicates that the EKF method used applied to spherical camera is effectiveness.

关键词： SLAM omnidirectional camera EKF algorithm

作者: Chen Hui Ma Shiwei

作者单位: School of Mechatronics Engineering and Automation,Shanghai University Shanghai 200072,China

会议类型: 国际会议

会议名称: 2013 IEEE 11th International Conference on Electronic Measurement & Instruments(第十一届IEEE国际电子测量与仪器学术会议)

会议地点: 哈尔滨

会议语种:英文

页码: 678-681

在线出版日期: 2013-08-16（万方平台首次上网日期，不代表论文的发表时间）