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| 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 |
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| 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 environment. |
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| 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 | |
| Copyright and reproduction |
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 |
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| 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 |
| Keyword(5) | |
| Keyword(6) | |
| Keyword(7) | |
| Keyword(8) | |
| 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 |
| #Pages | 6 |
| Date of Issue | 2009-06-11 (PRMU) |
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