Local map fusion for real-time indoor simultaneous localization and mapping

Rodríguez-Losada, D.; Matı́a, Fernando; Jiménez, Agustín; Galán, Ramón

doi:10.1002/rob.20120

Cited by 14 publications

(7 citation statements)

References 16 publications

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“…Our main research line is the development of autonomous navigation algorithms for mobile robots, especially focusing on the Simultaneous Localization and Map Building Problem (Rodriguez-Losada et al 2006a;2006b;Pedraza et al, 2007). This research line was partly motivated because in the setup of Blacky a time consuming manual installation and measurement of landmarks had to be done.…”

Section: Motivationmentioning

confidence: 99%

“…We soon realized that the SLAM-EKF filter was quite optimistic due to the intrinsic inconsistency that arises due to EKF linearizations. We proposed the use of perfectly known shape constraints (parallelism, orthogonality, colinearity) between segments of a map to reduce the angular uncertainty of the robot that is the main source of linearizations (Rodriguez-Losada et al, 2006a;Rodriguez-Losada et al, 2007). With this solution, medium size maps with loops can be built in real time, which is more than enough for all the environments were Urbano has been deployed.…”

Section: Feature Based Mapping and Navigationmentioning

confidence: 99%

See 1 more Smart Citation

Urbano, an Interactive Mobile Tour-Guide Robot

Rodríguez-Losada¹,

Matı́a²,

Galán³

et al. 2008

Advances in Service Robotics

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Section: Motivationmentioning

confidence: 99%

Section: Feature Based Mapping and Navigationmentioning

confidence: 99%

Urbano, an Interactive Mobile Tour-Guide Robot

Rodríguez-Losada¹,

Matı́a²,

Galán³

et al. 2008

Advances in Service Robotics

Self Cite

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“…This is difficult task that has focused high attention in the research community in the last years (see [23] for a survey on robotic mapping). We have also developed several algorithms [20,24] for our interactive mobile robots shown in Fig. 12.…”

Section: Robotic Global Localizationmentioning

confidence: 99%

Fast exact feature based data correspondence search with an efficient bit-parallel MCP solver

et al. 2008

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The problem of finding the optimal correspondence between two sets of geometric entities or features is known to be NP-hard in the worst case. This problem appears in many real scenarios such as fingerprint comparisons, image matching and global localization of mobile robots. The inherent complexity of the problem can be avoided by suboptimal solutions, but these could fail with high noise or corrupted data. The correspondence problem has an interesting equivalent formulation in finding a maximum clique in an association graph. We have developed a novel algorithm to solve the correspondence problem between two sets of features based on an efficient solution to the Maximum Clique Problem using bit parallelism. It outperforms an equivalent non bit parallel algorithm in a number of experiments with simulated and real data from two different correspondence problems. This article validates for the first time, to the best of our knowledge, that bit parallel optimization techniques can greatly reduce computational cost, thus making feasible the use of an exact solution in real correspondence search problems despite their inherent NP computational complexity.

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“…In this paper, we discuss a particular simultaneous localization and mapping (SLAM) approach. The SLAM problem was introduced by Smith and Cheeseman [3] and expanded by other researchers in the past two decades [4][5][6][7].…”

Section: Introductionmentioning

confidence: 99%

Development of Visual Simultaneous Localization and Mapping (VSLAM) for a Pipe Inspection Robot

Krys¹,

Najjaran

2007

2007 International Symposium on Computational Intelligence in Robotics and Automation

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This paper describes a visual simultaneous localization and mapping (VSLAM) method for a pipe inspection robot that can serve as a carrier for nondestructive testing (NDT) sensors inside in-service water mains. The proposed method features a multi-sensor fusion system that simultaneously executes two important functions of the robot: construct a global image of the internal surface of the pipe and provide the location of the NDT sensors. The fusion involves a synergy between image mosaicing and dead reckoning. More precisely, the sequential images of a digital camera are stitched together with the help of an inertial navigation system (INS). In the proposed model, the processing load of image mosaicing is reduced significantly, and at the same time the accumulation of error of the INS is prevented. The functionality of the model is verified using a simulator that mimics the motion of a pipe inspection robot inside a water main.

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Local map fusion for real-time indoor simultaneous localization and mapping

Cited by 14 publications

References 16 publications

Urbano, an Interactive Mobile Tour-Guide Robot

Urbano, an Interactive Mobile Tour-Guide Robot

Fast exact feature based data correspondence search with an efficient bit-parallel MCP solver

Development of Visual Simultaneous Localization and Mapping (VSLAM) for a Pipe Inspection Robot

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