Title:
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Collaborative localization for autonomous robots in structured environments
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Author:
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Guerra Paradas, Edmundo; Munguía Alcalá, Rodrigo Francisco; Bolea Monte, Yolanda; Grau Saldes, Antoni
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Other authors:
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Institut de Robòtica i Informàtica Industrial; Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel.ligents |
Abstract:
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A complete approach to the visual localization and mapping problem (SLAM) is presented in this work. The presented approach exploits the enhanced capabilities of a system where a human and a robot collaborate in surveying/exploratory tasks. The human is supposed to wear a smart headwear device, which deploys a inertial measurement unit and a camera, Hv. This camera acts as a secondary sensor, and provides data to the robotic Rv camera performing mapping tasks. The data from the human-worn camera is used to produce real-time depth estimation of landmarks when its field of view overlaps with that of Rv. These measurements are mathematically fully integrated into the EKF-SLAM methodology. Experiments with real captured data validate the proposed approach. |
Abstract:
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Peer Reviewed |
Subject(s):
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-Àrees temàtiques de la UPC::Informàtica::Robòtica -Classificació INSPEC::Automation::Robots |
Rights:
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Document type:
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Article - Published version Conference Object |
Published by:
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Institute of Electrical and Electronics Engineers (IEEE)
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