Computationally effective stereovision SLAM

2010 IEEE International Conference on Imaging Systems and Techniques, IST 2010 - Proceedings

Volumn , Issue , 2010, Pages 458-463

  Nalpantidis, Lazaros ^a   Sirakoulis, Georgios Ch ^a   Carbone, Andrea ^b   Gasteratos, Antonios ^a  

^a DEMOCRITUS UNIVERSITY OF THRACE   (Greece)

^b SAPIENZA UNIVERSITY OF ROME   (Italy)

Author keywords

Autonomous robotics; Cellular automata; Feature matching; SLAM; Stereovision

Indexed keywords

AREA MEASUREMENT; AUTONOMOUS ROBOTICS; CALCULATION SCHEME; FEATURE MATCHING; IMAGE SETS; MOVING ROBOTS; SCALE AND ROTATION; SIMULTANEOUS LOCALIZATION AND MAPPING ALGORITHMS; SLAM; SLAM ALGORITHM; SPEEDED UP ROBUST FEATURES; STEREO CAMERAS; STEREO CORRESPONDENCES;

ALGORITHMS; CELLULAR AUTOMATA; IMAGING SYSTEMS; PATTERN RECOGNITION SYSTEMS; ROBOTICS; ROBOTS; SENSORS; STEREO VISION;

IMAGE MATCHING;

EID: 77957825898     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IST.2010.5548507     Document Type: Conference Paper

References (14)

1. T. Bailey and H. Durrant-Whyte, "Simultaneous localization and mapping (slam): part ii," IEEE Robotics & Automation Magazine, vol. 13, no. 3, pp. 108-117, August 2006.
2. S. Huang, Z. Wang, and G. Dissanayake, "Sparse local submap joining filter for building large-scale maps," IEEE Transactions on Robotics, vol. 24, no. 5, pp. 1121-1130, 2008.
3. H. Bay, A. Ess, T. Tuytelaars, and L. Van Gool, "Speeded-up robust features (surf)," Comput. Vis. Image Underst., vol. 110, pp. 346-359, June 2008.
4. J. Von Neumann, Theory of Self-Reproducing Automata. Urbana, Illinois: University of Illinois Press, 1966.
5. L. Nalpantidis, G. C. Sirakoulis, and A. Gasteratos, "A dense stereo correspondence algorithm for hardware implementation with enhanced disparity selection," in 5th Hellenic conference on Artificial Intelligence, ser. Lecture Notes in Computer Science, vol. 5138. Syros, Greece: Springer-Verlag, 2008, pp. 365-370.
6. L. Nalpantidis, G. C. Sirakoulis, and A. Gasteratos, "Review of stereo vision algorithms: from software to hardware," International Journal of Optomechatronics, vol. 2, no. 4, pp. 435-462, 2008.
7. L. Nalpantidis, I. Kostavelis, and A. Gasteratos, "Stereovision- based algorithm for obstacle avoidance," in International Conference on Intelligent Robotics and Applications, ser. Lecture Notes in Computer Science, vol. 5928. Singapore: Springer-Verlag, 2009, pp. 195-204.
8. B. Siciliano, L. Sciavicco, L. Villani, and G. Oriolo, Robotics: Modelling, Planning and Control. Springer Publishing Company, Incorporated, 2008.
9. R. Labayrade, D. Aubert, and J.-P. Tarel, "Real time obstacle detection in stereovision on non flat road geometry through "v- disparity" representation," in IEEE Intelligent Vehicle Symposium, vol. 2, Versailles, France, 2002, pp. 646-651.
10. J. Zhao, J. Katupitiya, and J. Ward, "Global correlation based ground plane estimation using v-disparity image," in IEEE International Conference on Robotics and Automation, Rome, Italy, 2007, pp. 529-534.
11. G. De Cubber, D. Doroftei, L. Nalpantidis, G. C. Sirakoulis, and A. Gasteratos, "Stereo-based terrain traversability analysis for robot navigation," in IARP/EURON Workshop on Robotics for Risky Interventions and Environmental Surveillance, Brussels, Belgium, 2008.
12. H. Durrant-Whyte and T. Bailey, "Simultaneous localisation and mapping (slam): Part i the essential algorithms. robotics and automation magazine," IEEE Robotics and Automation Magazine, vol. 2, p. 2006, 2006.
13. R. Sim, P. Elinas, and J. Little, "A study of the rao-blackwellised particle filter for efficient and accurate vision-based slam," International Journal of Computer Vision, vol. 74, no. 3, pp. 303-318, 09 2007.
14. S. Wolfram, Theory and Applications of Cellular Automata. Singapore: World Scientific, 1986.