Real-time single camera SLAM using fiducial markers

ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings

Volumn , Issue , 2009, Pages 177-182

  Lim, Hyon ^a   Lee, Young Sam ^a  

^a Inha University   (South Korea)

Author keywords

EKF SLAM; Fiducial marker; Monocular vision; Simultaneous Localization and Mapping (SLAM)

Indexed keywords

ARTIFICIAL LANDMARK; FIDUCIAL MARKER; GLOBAL REGISTRATION; INDOOR LOCALIZATION; MEASUREMENT MODEL; MONOCULAR VISION; PROBABILISTIC FRAMEWORK; ROBOT POSE; SIMULTANEOUS LOCALIZATION AND MAPPING; SINGLE CAMERAS;

CAMERAS; EXTENDED KALMAN FILTERS; MAPPING; MATHEMATICAL TECHNIQUES; ROBOTS;

THREE DIMENSIONAL;

EID: 77951104213     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (15)

1. A. J. Davison, I. Reid, N. Molton, and O. Stasse, "MonoSLAM: Real-time single camera slam," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.29, no.6, June 2007.
2. M. W. M. G. Dissanayake, P. Newman, S. Clark, H. F. Durrant-Whyte, and M. Csorba, "A solution to the simultaneous localization and map building (slam) problem," IEEE Transactions on Robotics and Automation, vol.17, no.3, pp. 229-241, June 2001.
3. I. Shimshoni, "On mobile robot localization from landmark bearings," IEEE Transactions on Robotics and Automation, vol.18, no.6, pp. 971-976, Dec 2002.
4. M. Betke and L. Gurvits, "Mobile robot localization using landmarks," IEEE Transactions on Robotics and Automation, vol.13, no.2, pp. 251-263, April 1997.
5. "Stargazor™," Hagisonic, Daejeon, South Korea.
6. "U-sat™," Korea LPS, Pusan, South Korea.
7. "Northstar," Evolution Robotics, Pasadena, CA.
8. W. Daniel and S. Diester, "Artoolkitplus for pose tracking on mobile devices," in Proceedings of 12th Computer Vision Winter Workshop (CVWW'07), 2007.
9. M. Fiala, "Artag, a fiducial marker system using digital techniques," in Proceedings of the Computer Vision and Pattern Recognition (CVPR'05), 2005.
10. S. Saito, A. Hiyama, T. Tanikawa, and M. Hirose, "Indoor marker-based localization using coded seamless pattern for interior decoration," in IEEE Virtual Reality Conference 2007, 2007, pp. 67-74.
11. Y. Nakazato, M. Kanbara, and N. Yokoya, "Localization of wearable users using invisible retroreflective markers and an ir camera," in Proceedings of SPIE Electronic Imaging, vol.5664, 2005, pp. 563-570.
12. Z. Zhang, "A flexible new technique for camera calibration," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.22, pp. 1330-1334, 1998.
13. R. I. Hartley and A. Zisserman, Multiple View Geometry in Computer Vision, 2nd ed. Cambridge University Press, ISBN: 0521540518, 2004.
14. J. S. Ortega, "Towards visual localization, mapping and moving objects tracking by a mobile robot: a geometric and probabilistic approach," Ph.D. dissertation, Institut National Polytechnique de Toulouse, 2007.
15. S. Julier and J. Uhlmann, "A new extension of the kalman filter to nonlinear systems," in Int. Symp. Aerospace/Defense Sensing, Simul. and Controls, Orlando, FL, 1997.