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Paper Abstract and Keywords
Presentation 2009-06-18 11:25
6DOF SLAM Using Omnidirectional Stereo Vision with Sub-pixel Estimation
Hiroshi Koyasu, Yamato Furuya, Ryuichiro Fukasawa, Hiroshi Kawasaki, Hitoshi Maekawa (Saitama Univ.), Shintaro Ono, Katsushi Ikeuchi (Univ. of Tokyo) PRMU2009-43
Abstract (in Japanese) (See Japanese page) 
(in English) Simultaneous Localization and Mapping (SLAM) is one of the
fundamental function of robots. For the problem, we present a new
method based on an omnidirectional stereo system. Although
omnidirectional stereo system has a great advantage to acquire
3D-information of surrounding environment at a time, the resolution of
the image is not sufficient for accurate depth information. In our
method, the accuracy of each range data by the stereo is improved by a
sub-pixel estimation of disparities. Then, ICP is applied for aligning
the range data during navigation. Finally, once the robot detects loop
closure, the estimated error of the ICP is corrected by Kalman
smoothing. Experimental results of the method are shown for an indoor
Keyword (in Japanese) (See Japanese page) 
(in English) Omnidirectional Stereo / Sub-pixel Estimation / SLAM / Closing Loop / / / /  
Reference Info. IEICE Tech. Rep., vol. 109, no. 88, PRMU2009-43, pp. 19-24, June 2009.
Paper # PRMU2009-43 
Date of Issue 2009-06-11 (PRMU) 
ISSN Print edition: ISSN 0913-5685  Online edition: ISSN 2432-6380
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF PRMU2009-43

Conference Information
Committee PRMU  
Conference Date 2009-06-18 - 2009-06-19 
Place (in Japanese) (See Japanese page) 
Place (in English) Hokkaido Univ. 
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To PRMU 
Conference Code 2009-06-PRMU 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) 6DOF SLAM Using Omnidirectional Stereo Vision with Sub-pixel Estimation 
Sub Title (in English)  
Keyword(1) Omnidirectional Stereo  
Keyword(2) Sub-pixel Estimation  
Keyword(3) SLAM  
Keyword(4) Closing Loop  
1st Author's Name Hiroshi Koyasu  
1st Author's Affiliation Saitama University (Saitama Univ.)
2nd Author's Name Yamato Furuya  
2nd Author's Affiliation Saitama University (Saitama Univ.)
3rd Author's Name Ryuichiro Fukasawa  
3rd Author's Affiliation Saitama University (Saitama Univ.)
4th Author's Name Hiroshi Kawasaki  
4th Author's Affiliation Saitama University (Saitama Univ.)
5th Author's Name Hitoshi Maekawa  
5th Author's Affiliation Saitama University (Saitama Univ.)
6th Author's Name Shintaro Ono  
6th Author's Affiliation The University of Tokyo (Univ. of Tokyo)
7th Author's Name Katsushi Ikeuchi  
7th Author's Affiliation The University of Tokyo (Univ. of Tokyo)
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Speaker Author-1 
Date Time 2009-06-18 11:25:00 
Presentation Time 30 minutes 
Registration for PRMU 
Paper # PRMU2009-43 
Volume (vol) vol.109 
Number (no) no.88 
Page pp.19-24 
Date of Issue 2009-06-11 (PRMU) 

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