Vertical edge-based mapping using range-augmented omnidirectional vision sensor
dc.contributor.author
dc.date.accessioned
2015-11-18T08:47:19Z
dc.date.available
2015-11-18T08:47:19Z
dc.date.issued
2013
dc.identifier.issn
1751-9632
dc.identifier.uri
dc.description.abstract
Laser range finder and omnidirectional cameras are becoming a promising combination of sensors to extract rich environmental information. This information includes textured plane extraction, vanishing points, catadioptric projection of vertical and horizontal lines, or invariant image features. However, many indoor scenes do not have enough texture information to describe the environment. In these situations, vertical edges could be used instead. This study presents a sensor model that is able to extract three-dimensional position of vertical edges from a range-augmented omnidirectional vision sensor. Using the unified spherical model for central catadioptric sensors and the proposed sensor model, the vertical edges are locally projected, improving the data association for mapping and localisation. The proposed sensor model was tested using the FastSLAM algorithm to solve the simultaneous localisation and mapping problem in indoor environments. Real-world qualitative and quantitative experiments are presented to validate the proposed approach using a Pioneer-3DX mobile robot equipped with a URG-04LX laser range finder and an omnidirectional camera with parabolic mirror
dc.description.sponsorship
This work has been partially supported by the project RAIMON - Autonomous Underwater Robot for Marine Fish Farms Inspection and Monitoring (Ref. CTM2011-29691-C02-02)funded by the Spanish Ministry of Science and Innovation, the LASPAU-COLCIENCIAS grant no. 136-2008, the University of Valle contract no. 644-19-04-95, and the consolidated research group's grant no. SGR2009-00380
dc.format.mimetype
application/pdf
dc.language.iso
eng
dc.publisher
Institution of Engineering and Technology (IET)
dc.relation
AGAUR/2009-2014/2009 SGR-380
info:eu-repo/grantAgreement/MICINN//CTM2011-29691-C02-02/ES/ROBOT AUTONOMO SUBMARINO PARA LA INSPECCION Y MONITORIZACION DE EXPLOTACIONES DE ACUICULTURA MARINA/
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Reproducció digital del document publicat a: http://dx.doi.org/10.1049/iet-cvi.2011.0214
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© IET Computer Vision, 2013, Vol. 7, núm. 2, pp. 135-143
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Articles publicats (D-ATC)
dc.rights
Tots els drets reservats
dc.subject
dc.title
Vertical edge-based mapping using range-augmented omnidirectional vision sensor
dc.type
info:eu-repo/semantics/article
dc.rights.accessRights
info:eu-repo/semantics/embargoedAccess
dc.embargo.terms
Cap
dc.date.embargoEndDate
info:eu-repo/date/embargoEnd/2026-01-01
dc.type.version
info:eu-repo/semantics/publishedVersion
dc.identifier.doi
dc.identifier.idgrec
018152
dc.contributor.funder
dc.relation.ProjectAcronym
dc.identifier.eissn
1751-9640