Autonomous SLAM Technique with Stereo Vision
作者单位：Department of Intelligent Robot EngineeringMokwon University
会议名称：《第二十七届中国控制会议》
主办单位：Technical Committee on Control Theory;Chinese Association of Automation Kunming Univ. Sci. Technol.;Yunnan Division;Chinese Association of Automation
会议日期：2008年
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程]
关 键 词：Mobile robot Coverage pattern SLAM Path finding A*algorithm Stereo vision
摘 要：This paper proposes some algorithms integrating grid and topology map and its performance is faster and more *** proposed scheme uses an occupancy grid map in representing the environment and then formulate topological information in path finding by *** localization process and the dynamic obstacle avoidance can be accomplished by topological information on grid based *** simulator mapping process is shown and the shortest path is decided on grid based *** topological information such as direction,distance is calculated on simulator program then transmitted to robot hardware *** one stereo camera and electronic compass are implemented on our mobile robot and two DC geared motor wheels are individually controlled by PD control *** matching was accomplished by image processing from two parallel positioned cameras and new algorithms such as fast object labeling,measuring depth by image overlapping and local information of optical *** and experimental results show the performance and efficiency of the proposed scheme.