Affordable robot mapping using omnidirectional vision
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Author
Bamorovat Abadi, Mohammad
Shahabian Alashti, Mohamad Reza
Holthaus, Patrick
Menon, Catherine
Amirabdollahian, Farshid
Attention
2299/27083
Abstract
Mapping is a fundamental requirement for robot navigation.In this paper, we introduce a novel visual mapping method that relies solely on a single omnidirectional camera.We present a metric that allows us to generate a map from the input image by using a visual Sonar approach.The combination of the visual sonars with the robot's odometry enables us to determine a relation equation and subsequently generate a map that is suitable for robot navigation.Results based on visual map comparison indicate that our approach is comparable with the established solutions based on RGB-D cameras or laser-based sensors. We now embark on evaluating our accuracy against the established methods.