Paper Info
Title
3D Simultaneous Localisation and Map-Building Using Active Vision for a Robot Moving on Undulating Terrain
Abstract
Work in simultaneous localisation and map-building ("SLAM") for mobile robots has focused on the simplified case in which a robot is considered to move in two dimen- sions on a ground plane. While this is often a good approx- imation, a large number of real-world applications require robots to move around terrain which has significant slopes and undulations, and it is desirable that these robots too should be able to estimate their locations by building maps of natural features. In this paper we describe a real-time EKF-based SLAM system permitting unconstrained 3D lo- calisation, and in particular develop models for the motion of a wheeled robot in the presence of unknown slope vari- ations. In a fully automatic implementation, our robot ob- serves visual point features using fixating stereo vision and builds a sparse map on-the-fly. Combining this visual mea- surement with information from odometry and a roll/pitch accelerometer sensor, the robot performs accurate, repeat- able localisation while traversing an undulating course.
Year
DOI
Venue
2001
10.1109/CVPR.2001.990501
CVPR
Keywords
Field
DocType
accelerometers,active vision,cartography,mobile robots,real-time systems,robot vision,stereo image processing,3D simultaneous localisation,active vision,automatic implementation,fixating stereo vision,map-building,mobile robots,natural features,odometry,real-time EKF-based-SLAM system,real-world applications,roll/pitch accelerometer sensor,simultaneous localisation and map-building,sparse map,unconstrained 3D localisation,undulating course,undulating terrain,unknown slope variations,visual measurement,visual point features,wheeled robot motion
Computer vision,Active vision,Stereopsis,Computer science,Accelerometer,Terrain,Odometry,Artificial intelligence,Robot,Simultaneous localization and mapping,Mobile robot
Conference
Volume
ISSN
Citations 
1
1063-6919
30
PageRank 
References 
Authors
10.76
13
2
Name
Order
Citations
PageRank
Andrew J. Davison16707350.85
Nobuyuki Kita220940.28