Monocular simultaneous localization and mapping system for a wheeled mobile robot
Fecha
2013Autor
Pérez Paina, Gonzalo
Destefanis, Eduardo
Metadatos
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The present work describes the implementation
of a monocular visual SLAM applied to a
wheeled mobile robot moving in an indoor environment.
It will be described the whole system and details
of each part of the current implementation. Parts
comprising the system include the estimation filter together
with both motion and measurement models, as
well as a set of computer vision algorithms for image
processing and data association. The implemented visual
SLAM make use of the latest techniques for undelayed
landmark initialization which are required given
the partially observability of bearing only SLAM. Presented
results show the performance of the implementation
mainly for robot pose estimation, from which it
can be observed a highly accurate result in robot orientation
estimation.
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