Affordable robot mapping using omnidirectional vision

Bamorovat Abadi, Mohammad, Shahabian Alashti, Mohamad Reza, Holthaus, Patrick, Menon, Catherine and Amirabdollahian, Farshid (2021) Affordable robot mapping using omnidirectional vision. In: 4th UKRAS21 Conference: Robotics at home Proceedings :. UKRAS21 Conference: Robotics at home Proceedings . EPSRC UK-RAS Network, GBR, pp. 29-30.
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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.


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