Robust online map merging system using laser scan matching and omnidirectional vision

IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Volumn , Issue , 2010, Pages 7-14

  Tungadi, Fredy ^a   Lui, Wen Lik Dennis ^a   Kleeman, Lindsay ^a   Jarvis, Ray ^a  

^a MONASH UNIVERSITY   (Australia)

Author keywords

[No Author keywords available]

Indexed keywords

FIRST SYSTEMS; LASER RANGE-FINDING; LASER SCANS; MAP MERGING; MULTI-ROBOT SYSTEMS; OFF-LINE PROCESSING; OMNI-DIRECTIONAL VISION; OMNIDIRECTIONAL IMAGE; PLACE RECOGNITION; SEARCH SPACES; SINGLE ROBOTS; VISUAL INFORMATION;

MERGING; MULTIPURPOSE ROBOTS; RANGE FINDERS; RANGE FINDING;

INTELLIGENT ROBOTS;

EID: 78651486961     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2010.5654446     Document Type: Conference Paper

References (27)

1. N. Adluru, L.J. Latecki, M. Sobel and R. Lakaemper, "Merging Maps of Multiple Robots", in IEEE International Conference on Pattern Recognition, 2008, pp 1-4.
2. A. Angeli, S. Doncieux, J.-A. Meyer and D. Filliat, "Real-Time Visual Loop-Closure Detection", in IEEE International Conference on Robotics and Automation, 2008 pp 1842-1847.
3. H. Bay, A. Ess, T. Tuytelaars, L Van Gool, "SURF: Speeded Up Robust Features", Computer Vision and Image Understanding, vol. 110, no. 3, 2008, pp 346-359.
4. S. Carpin, A. Birk and V. Jucikas, "On map merging", Robotics and Autonomous Systems, vol. 53, 2005, pp 1-14.
5. J.S. Chahl and M.V. Srinivasan, "Reflective Surfaces for Panoramic Imaging", Applied Optics, vol. 36, no. 31, 1997, pp 8275-8285.
6. M. Cummins and P. Newman, "FAB-MAP Probabilistic Localization and Mapping in the Space of Appearance", International Journal of Robotics Research, vol. 27, no. 6, 2008, pp 647-665.
7. A. Davison, "Mobile Robot Navigation using Active Vision", PhD Thesis, University of Oxford, 1998.
8. A. Diosi and L. Kleeman, "Fast Laser Scan Matching Using Polar Coordinates", International Journal of Robotics Research, vol. 26, 2007, pp 1125-1153.
9. S. Fortune, "Voronoi Diagrams and Delaunay Triangulations", Handbook of Discrete and Computational Geometry, CRC Press, Inc., Boca Raton, FL, 1997.
10. A. Gil, Ó. Reinoso, M. Ballesta, M. Juliá, "Multi-robot Visual SLAM Using a Rao-Blackwellized Particle Filter", Robotics and Autonomous Systems, vol. 58, no. 1, 2010, pp 68-80.
11. N. Ho and R. Jarvis, "Vision Based Global Localisation Using a 3D Environmental Model Created by a Laser Range Scanner", in IEEE International Conference on Intelligent Robots and Systems, 2008, pp 2964-2969.
12. K. Ho and P. Newman, "Detecting Loop Closure with Scene Sequences", International Journal of Computer Vision, vol. 74, no. 3, 2007, pp 261-286.
13. C.E. Jacobs, A. Finkelstein and D.H. Salesin, "Fast Multiresolution Image Querying", Computer Graphics, 29 (Annual Conference Series), 1995, pp 277-289.
14. C. Jennings, D. Murray and J. Little, "Cooperative Robot Localization with Vision-based Mapping", in IEEE International Conference on Robotics and Automation, 1999, pp 2659-2665.
15. L. Kleeman, "Advanced Sonar and Odometry Error Modelling for Simultaneous Localisation and Map Building", in International Conference on Intelligent Robots and Systems, 2003, pp 699-704.
16. L. Kleeman, "On-The-Fly Classifying Sonar with Accurate Range and Bearing Estimations", in IEEE International Conference on Intelligent Robots and Systems, 2002, pp 178-183.
17. K. Konolige, D. Fox, B. Limketkai, J. Ko and B. Stewart, "Map Merging for Distributed Robot Navigation", in IEEE International Conference on Intelligent Robots and Systems, 2003.
18. A. León, R. Barea, L.M. Bergasa, E. López, M. Ocaña and D. Schleicher, "SLAM and Map Merging", Journal of Physical Agents, vol. 3, no. 1, 2009, pp 13-23.
19. D.G. Lowe, "Distinctive Image Features from Scale Invariant Keypoints", International Journal of Computer Vision, vol. 60, no. 2, 2005, pp 91-110.
20. W.L.D. Lui and R. Jarvis, "A Pure Vision-based Approach to Topological SLAM", IEEE International Conference on Intelligent Robots and Systems, 2010.
21. W.L.D. Lui and R. Jarvis, "Eye-Full Tower: A GPU-based Variable Multibaseline Omnidirectional Stereovision System with Automatic Baseline Selection for Outdoor Mobile Robot Navigation", Robotics and Autonomous Systems, vol. 58, no. 6, 2010, pp.747-761.
22. Mobile Robots, Online, 2010, http://www.mobilerobots.com.
23. R.J. Radke, S. Andra, O. Al-Kohafi and B. Roysam, "Image Change Detection Algorithms: A Systematic Survey", IEEE Transactions on Image Processing, vol. 14, no. 3, 2005, pp 294-307.
24. B. Stewart, J. Ko, D. Fox and K. Konolige, "The Revisiting Problem in Mobile Robot Map Building: A Hierarchical Bayesian Approach", in Proceedings on the Conference of Uncertainty in Artificial Intelligence, 2003.
25. S. Thrun, "A Probabilistic On-Line Mapping Algorithm for Teams of Mobile Robots", International Journal of Robotics Research, vol. 20, no. 5, 2001, pp 335-363.
26. F. Tungadi and L. Kleeman, "Multiple Laser Polar Scan Matching with Application to SLAM", in Australasian Conference on Robotics and Automation, 2007.
27. F. Tungadi and L. Kleeman, "Loop Exploration for SLAM with Fusion of Advanced Sonar Features and Laser Polar Scan Matching", in IEEE International Conference on Intelligent Robots and Systems, 2009, pp 388-394.