World feature detection and mapping using stereovision and inertial sensors

Robotics and Autonomous Systems

Volumn 44, Issue 1, 2003, Pages 69-81

  Lobo, Jorge ^a   Queiroz, Carlos ^a   Dias, Jorge ^a  

^a UNIVERSITY OF COIMBRA   (Portugal)

Author keywords

3D reconstruction; Inertial sensors; Outlier removal; Sensor fusion; Vision

Indexed keywords

COMPUTER VISION; FEATURE EXTRACTION; IMAGE RECONSTRUCTION; IMAGE SEGMENTATION; MOBILE ROBOTS; SENSOR DATA FUSION; STATISTICAL METHODS;

INERTIAL SENSORS;

ROBOTICS;

EID: 0037669014     PISSN: 09218890     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0921-8890(03)00011-3     Document Type: Conference Paper

References (35)

1. H. Moravec, A. Elfes, High resolution maps from wide angle sonar, in: Proceedings of the IEEE International Conference on Robotics and Automation, 1985, pp. 116-121.
2. S. Wei, Y. Yagi, M. Yachda, Building local floor map by use of ultrasonic and omni-directional vision sensor, in: Proceedings of the IEEE International Conference on Robotics and Automation, 1998, pp. 2548-2553.
3. B. Yamauchi, A. Schultz, W. Adams, Mobile robot exploration and map-building with continuous localization, in: Proceedings of the IEEE International Conference on Robotics and Automation, 1998, pp. 3715-3720.
4. Borenstein J., Koren Y., The vector field histogram - fast obstacle avoidance for mobile robots. IEEE Journal of Robotics and Automation. 7(3):1991;278-288.
5. J. Buhmann, W. Burgard, A.B. Cremers, D. Fox, T. Hofman, F. Schneider, J. Strikos, S. Thrun, The mobile robot Rhino, AI Magazine 16 (1) (1995).
6. Burgard W., Cremers A.B., Fox D., Hahnel D., Lakemeyer G., Schulz D., Steiner W., Thrun S., Experiences with an interactive museum tour-guided robot. Artificial Intelligence. 114(1-2):1999;3-55.
7. Yamauchi B., Langley P., Place recognition in dynamic environments. Journal of Robotics Systems. 14(2):1997;107-120.
8. R. Chatila, J.-P. Laumond, Position referencing and consistent world modelling for mobile robots, in: Proceedings of the IEEE International Conference on Robotics and Automation, 1985.
9. A. Silva, P. Menezes, J. Dias, H. Araujo, Grid-Based framework for sensorial data integration in mobile robots, in: Proceedings of the SPIE's International Symposium on Intelligent Systems & Advanced Manufacturing - Special Session on Sensor Fusion and Decentralized Control in Autonomous Robotic Systems, Pittsburgh, PA, October 14-15, 1997.
10. P. Newman, On the structure and solution of the simultaneous localisation and map building problem, Ph.D. Thesis, Australian Centre for Field Robotics, University of Sidney, Sidney, Australia, 2000.
11. Leonard J.J., Durrant-Whyte H.F., Cox I.J., Dynamic map building for an autonomous mobile robot. International Journal of Robotics Research. 11(4):1992;89-96.
12. H. Durrant-Whyte, S. Majumder, S. Thrun, M. deBattista, S. Scheding, A Bayesian algorithm for simultaneous localization and map building, in: Proceedings of the 10th International Symposium on Robotics Research (ISRR'01), Lorne, Australia, 2001.
13. J. Guivant, E. Nebot, H. Durrant-Whyte, Simultaneous localization and map building using natural features in outdoor environments, in: Proceedings of the International Symposium on Intelligent Autonomous Systems 6 (IAS-6), Venice, Italy, IOS Press, 2000, pp. 581-588. ISBN 1 58603 078 7.
14. J. Vandorpe, H. Van Brussel, H. Xu, Exact dynamic map building for a mobile robot using geometrical primitives produced by a 2D range finder, in: Proceedings of the IEEE International Conference on Robotics and Automation, 1996, pp. 901-908.
15. J. Gonzalez, A. Ollero, A. Reina, Map building for a mobile robot equipped with a 2D laser rangefinder, in: Proceedings of the IEEE International Conference on Robotics and Automation, 1994, pp. 1904-1909.
16. Kriegman D.J., Triendl E., Binford T.O., Stereo vision and navigation in buildings for mobile robots. IEEE Transactions on Robotics and Automation. 5(6):1989;792-803.
17. J.L. Crowley, P. Bobet, K. Sarachik, Dynamic world modeling using vertical line stereo, Journal of Robotics and Autonomous Systems, Elsevier Press, June 1991.
18. Arras K.O., Tomatis N., Jensen B.T., Siegwart R., Multisensor on-the-fly localization: precision and reliability for applications. Robotics and Autonomous Systems. 34:2001;131-143.
19. Castellanos J.A., Montiel J.M.M., Neira J., Tardos J.D., The SPmap: a probabilistic framework for simultaneous localization and map building. IEEE Transactions on Robotics and Automation. 15(5):1999;948-953.
20. Mathies L., Shafer S.A., Error modeling in stereo navigation. IEEE Journal Robotics Automation. 3(3):1987;239-248.
21. S. Shah, J.K. Aggarwal, Modeling Structured Environments Using Robot Vision, Lecture Series in Computer Science: Recent Progress in Computer Vision, 1995, pp. 113-128.
22. P.K. Allen, I. Stamos, Integration of range and image sensing for photorealistic 3D modeling, in: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2000, pp. 1435-1440.
23. R. Bajcsy, G. Kamberova, L. Nocera, 3D Reconstruction of environments for virtual reconstruction, in: Proceedings of the Fourth IEEE Workshop on Applications of Computer Vision, 2000.
24. H. Shum, M. Han, R. Szeliski, Interactive construction of 3D models from panoramic mosaics, in: Proceedings of the International Conference on Computer Vision and Pattern Recognition (CVPR), 1998.
25. J. Lobo, J. Dias, Integration of inertial information with vision towards robot autonomy, in: Proceedings of the IEEE International Symposium on Industrial Electronics, Guimaraes, Portugal, July 1997, pp. 825-830.
26. J. Lobo, J. Dias, Ground plane detection using visual and inertial data fusion, in: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems - IROS'98, Victoria, Canada, October 1998, pp. 912-917.
27. J. Lobo, J. Dias, Fusing of image and inertial sensing for camera calibration, in: Proceedings of the International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2001, Baden-Baden, Germany, August 2001, pp. 103-108.
28. J. Lobo, C. Queiroz, J. Dias, Vertical world feature detection and mapping using stereo vision and accelerometers, in: Proceedings of the Ninth International Symposium on Intelligent Robotic Systems - SIRS'01, Toulouse, France, July 2001, pp. 229-238.
29. K. Kanatani, Geometric Computation for Machine Vision, Oxford University Press, Oxford, 1993. ISBN 0-19-856385-X.
30. J. Dias, C. Paredes, I. Fonseca, A.T. de Almeida, Simulating pursuit with machines, in: Proceedings of the IEEE Conference on Robotics and Automation, Japan, 1995, pp. 472-477.
31. Dias J., Paredes C., Fonseca I., Araujo H., Baptista J., de Almeida A.T., Simulating pursuit with machine experiments with robots and artificial vision. IEEE Transactions on Robotics and Automation. 3(1):1998;1-18.
32. R. Hartley, A. Zisserman, Multiple View Geometry in Computer Vision, Cambridge University Press, Cambridge, 2000. ISBN 0521623049.
33. B. Jahne, Digital Image Processing, Springer, Berlin, 1997. ISBN 3-540-62724-3.
34. K.V. Mardia, Statistics of Directional Data, Academic Press, New York, 1972. ISBN 0-12-471150-2.
35. Fischler M.A., Bolles R.C., Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography. Communications of the ACM. 24:1981;381-395.