Article

Vision-Based Multi-Robot Simultaneous Localization and Mapping

CRV '04: Proceedings of the 1st Canadian Conference on Computer and Robot Vision

Pages 155 - 162

Published: 17 May 2004 Publication History

Abstract

In this paper we present a vision-based approachfor the multi-robot Simultaneous Localization andMapping (SLAM) problem. We study the case of ateam of robots equipped with a single camera andcollaborating in the same worksite. We propose tocalculate the location of the robots by using a collectionof sparse views of the planar surface on whichthese robots are moving. The camera motions are estimatedusing inter-image homographies computedfrom the matching of overhead transformed views.Results of map generated from the estimated robotlocations are presented.

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Cited By

Sklar EOzgelen AMunoz JGonzalez JManashirov MEpstein SParsons S(2011)Designing the HRTeam frameworkProceedings of the 10th international conference on Advanced Agent Technology10.1007/978-3-642-27216-5_15(232-251)Online publication date: 2-May-2011
https://dl.acm.org/doi/10.1007/978-3-642-27216-5_15
Ho KNewman P(2007)Detecting Loop Closure with Scene SequencesInternational Journal of Computer Vision10.1007/s11263-006-0020-174:3(261-286)Online publication date: 1-Sep-2007
https://dl.acm.org/doi/10.1007/s11263-006-0020-1

Index Terms

Vision-Based Multi-Robot Simultaneous Localization and Mapping
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Robotics
      1. Robotic autonomy
2. Computing methodologies
  1. Artificial intelligence
    1. Computer vision
      1. Image and video acquisition
        3D imaging
        Camera calibration

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cover image Guide Proceedings

CRV '04: Proceedings of the 1st Canadian Conference on Computer and Robot Vision

May 2004

493 pages

ISBN:0769521274

Publisher

IEEE Computer Society

United States

Publication History

Published: 17 May 2004

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Cited By

Sklar EOzgelen AMunoz JGonzalez JManashirov MEpstein SParsons S(2011)Designing the HRTeam frameworkProceedings of the 10th international conference on Advanced Agent Technology10.1007/978-3-642-27216-5_15(232-251)Online publication date: 2-May-2011
https://dl.acm.org/doi/10.1007/978-3-642-27216-5_15
Ho KNewman P(2007)Detecting Loop Closure with Scene SequencesInternational Journal of Computer Vision10.1007/s11263-006-0020-174:3(261-286)Online publication date: 1-Sep-2007
https://dl.acm.org/doi/10.1007/s11263-006-0020-1

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