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Development of a tightly coupled composite Vision/Laser sensor for indoor SLAM

Gabriela Gallegos Garrido 1 
1 AROBAS - Advanced Robotics and Autonomous Systems
CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : Autonomous navigation in unknown environments has been the focus of attention in the mobile robotics community for the last three decades. When neither the location of the robot nor a map of the region are known, localization and mapping are two tasks that are highly inter-dependent and must be performed concurrently. This problem, is known as Simultaneous Localization and Mapping (SLAM). In order to gather accurate information about the environment, mobile robots are equipped with a variety of sensors that together form a perception system that allows accurate localization and reconstruction of reliable and consistent representations of the environment. We believe that a perception system composed of the odometry of the robot, an omnidirectional camera and a 2D laser range finder provide enough information to solve the SLAM problem robustly. In this context we propose an appearance-based approach to solve the SLAM problem and reconstruct a reliable 3D representation of the environment. This approach relies on a tightly-coupled laser/omnidirectional sensor in order to take profit of the complementarity of each sensor modality. A novel generic robot-centered representation that is well adapted to the appearance-based SLAM is proposed. This augmented spherical view is constructed using the depth information from the laser range finder and the floor plane, together with lines extracted from the omnidirectional image. The appearance-based localization method minimizes a non-linear cost function directly built from the augmented spherical view. However, recursive optimization methods suffer from convergence problems when initialized far from the solution. This is also true for our method where an initialization sufficiently close to the solution is needed to ensure rapid convergence and reduce computational cost. A Enhanced Polar Scan Matching algorithm is used to obtain this initial guess of the position of the robot to initialize the algorithm.
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Submitted on : Wednesday, June 29, 2011 - 2:14:15 PM
Last modification on : Friday, February 4, 2022 - 3:18:20 AM
Long-term archiving on: : Friday, September 30, 2011 - 2:23:05 AM


  • HAL Id : tel-00604647, version 1



Gabriela Gallegos Garrido. Development of a tightly coupled composite Vision/Laser sensor for indoor SLAM. Automatic. Ecole Nationale Supérieure des Mines de Paris, 2011. English. ⟨NNT : 2011ENMP0013⟩. ⟨tel-00604647⟩



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