Vision-based Mapping with Cooperative Robots (1998)
| Venue: | in Proceedings of SPIE - Sensor Fusion and Decentralized Control in Robotic Systems |
| Citations: | 5 - 1 self |
BibTeX
@INPROCEEDINGS{Little98vision-basedmapping,
author = {James J. Little and Cullen Jennings and Don Murray},
title = {Vision-based Mapping with Cooperative Robots},
booktitle = {in Proceedings of SPIE - Sensor Fusion and Decentralized Control in Robotic Systems},
year = {1998},
pages = {2--12}
}
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Abstract
Two stereo-vision-based mobile robots navigate and autonomously explore their environment safely while building occupancy grid maps of the environment. The robots maintain position estimates within a global coordinate frame using landmark recognition. This allows them to build a common map by sharing position information and stereo data. Stereo vision processing and map updates are done at 3Hz and the robots move at speeds of 200 cm/s. Cooperative mapping is achieved through autonomous exploration of unstructured and dynamic environments. The map is constructed conservatively, so as to be useful for collision-free path planning. Each robot maintains a separate copy of a shared map, and then posts updates to the common map when it returns to observe a landmark at home base. Issues include synchronization, mutual localization, navigation, exploration, registration of maps, merging repeated views (fusion), centralized vs decentralized maps. Keywords: mobile robots, navigation, stereo vi...
