Paper Info
Title
An Application of Stereo Camera with Two Different FoVs for SLAM and Obstacle Detection
Abstract
This paper presents an application of stereo camera with two different fields of view (FoVs) for both simultaneous localization and mapping (SLAM) and obstacle detection. Stereo camera usually comprises two cameras with the same FoV. However, for high performance SLAM, a camera with a wide FoV is advantageous, and for high performance obstacle detection, a camera with a narrow FoV is advantageous. This paper proposes SLAM and obstacle detection methods using a low-cost stereo camera with one wide FoV camera and one narrow FoV camera. The performance of the proposed method is demonstrated using various dataset-based experiments.
Year
DOI
Venue
2018
10.1016/j.ifacol.2018.11.533
IFAC-PapersOnLine
Keywords
DocType
Volume
Stereo Vision,SLAM,Obstacle Detection,Mobile Robot
Conference
51
Issue
ISSN
Citations 
22
2405-8963
0
PageRank 
References 
Authors
0.34
6
4
Name
Order
Citations
PageRank
Chul-hong Kim121.04
Tae-Jae Lee2326.98
Dong-Il Dan Cho3179.99
Dong-Il Dan Cho4179.99