Abstract
SLAM mechanisms are a key component towards advanced service robotics applications since knowing the pose allows goal directed movements or can ensure full coverage of cleaning areas. In particular, SLAM reduces the deployment efforts of a service robot. Currently, a major hurdle are the high costs of suitable range measuring devices which do not fit into the budget of many proposed applications. A solution are bearing-only SLAM approaches since these can be used with cheap sensors like omnicams.
This paper applies a bearing-only SLAM approach to features extracted from images of an uncalibrated omnicam. Experiments with an omnicam onboard a Pioneer-3DX robot prove the suitability of EKF-based bearing-only SLAM for service robotics applications.
The contribution of this work is to evaluate bearing-only SLAM with a cheap sensor on a real robot in scenarios that cover characteristic requirements of advanced service robotics applications. The results show that bearing-only SLAM can be succesfully used with cheap sensors to overcome a major hurdle towards advanced service robots.
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© 2006 Springer-Verlag Berlin Heidelberg
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Schlegel, C., Hochdorfer, S. (2006). Bearing-Only SLAM with an Omnicam. In: Levi, P., Schanz, M., Lafrenz, R., Avrutin, V. (eds) Autonome Mobile Systeme 2005. Informatik aktuell. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-30292-1_13
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DOI: https://doi.org/10.1007/3-540-30292-1_13
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