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.
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.
Item Type | Book Section |
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Additional information | © 2021 EPSRC UK-Robotics and Autonomous Systems (UK-RAS) Network. This is an open access conference paper distributed under the terms of the Creative Commons Attribution License (CC BY), https://creativecommons.org/licenses/by/4.0/ |
Date Deposited | 15 May 2025 16:46 |
Last Modified | 30 May 2025 23:18 |
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