Abstract
This article addresses SLAM and navigation frame using low-cost sensor systems as a practical solution in an indoor environment. It is divided into three major modules according to their functionality: 1) initial mapping by VR-SLAM (Vision and Range sensor-SLAM) while exploring an unknown environment, 2) task-based navigation to guarantee safe motion under dynamic environmental changes and 3) failure recovery to improve system reliability. These modules work with a stereo camera, ultrasonic and infrared sensors combined. In this article, we will describe the navigation frame, especially, focusing on VR-SLAM.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Yamamoto, Y., Pirjanian, P., Munich, M., DiBernardo, E., Goncalves, L., Ostrowski, J., Karlsson, N.: Optical sensing for robot perception and localization. In: IEEE Workshop on Advanced Robotics and its Social Impact, pp. 14–17 (2005)
Chae, H., Yu, W., Lee, J., Cho, Y.: Robot Localization Sensor for Development of Wireless Location Sensing Network. In: Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 37–42 (2006)
Goncalves, L., Karlsson, N., Ostrowski, J., DiBernardo, E., Pirjanian, P.: vSLAM: vision-based SLAM for autonomous vehicle navigation. In: Proc. of SPIE Volume 5422 Unmanned Ground Vehicle Technology VI, pp. 178–185 (2004)
Sim, R., Little, J.J.: Autonomous vision-based exploration and mapping using hybrid maps and Rao-Blackwellised particle filters. In: Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2082–2089 (2006)
Lee, S., Lim, J., Cho, D.: Feature-based Map Building Using Sparse Sonar Data in a Home-like Environment. Journal of Mechanical Science and Technology 21(1), 74–82 (2007)
Ahn, S., Lee, K., Chung, W.K.: SLAM with Visual Plane: Extracting Vertical Plane by Fusing Stereo Vision and Ultrasonic Sensor for Indoor Environment. In: Proc. of Int. Conf. on Robotics and Automation, pp. 4787–4794 (2007)
Ahn, S., Choi, M., Choi, J., Chung, W.K.: Data Association Using Visual Object Recognition for EKF-SLAM in Home Environment. In: Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2588–2594 (2006)
Lee, K., Chung, W.K.: Filtering out Specular Reflections of Sonar Sensor Readings. In: Proc. of Int. Conf. on Ubiquitous Robots and Ambient Intelligent, pp. 246–251 (2006)
Lee, K., Chung, W.K.: Navigable Voronoi Diagram: A Local Path Planner for Mobile Robots Using Sonar Sensors. In: Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2813–2818 (2007)
Aurenhammer, F.: Voronoi diagrams - a survey of a fundamental geometric data structure. ACM Computing Surveys 23, 345–405 (1991)
Bar-Shalom, Y., Li, X.R., Kirubarajan, T.: Estimation with Applications to Tracking and Navigation. John Wiley, Chichester (2001)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Chung, W.K., Ahn, S., Lee, JS., Lee, K., Choi, J., Choi, M. (2010). POSTECH Navigation Frame: Toward a Practical Solution for Indoor SLAM and Navigation. In: Kaneko, M., Nakamura, Y. (eds) Robotics Research. Springer Tracts in Advanced Robotics, vol 66. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-14743-2_20
Download citation
DOI: https://doi.org/10.1007/978-3-642-14743-2_20
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-14742-5
Online ISBN: 978-3-642-14743-2
eBook Packages: EngineeringEngineering (R0)