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Vision-Based Multi-Robot Simultaneous Localization and Mapping
University of Western Ontario, London, Ontario, Canada May 17-May 19
DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/CCCRV.2004.13014391st Canadian Conference on Computer a ...
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Hassan Hajjdiab, Robert Laganière, "Vision-Based Multi-Robot Simultaneous Localization and Mapping," Computer and Robot Vision, Canadian Conference, pp. 155-162, 1st Canadian Conference on Computer and Robot Vision (CRV'04), 2004.
 
 
BibTex
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@article{ 10.1109/CCCRV.2004.1301439,
author = {Hassan Hajjdiab and Robert Laganière},
title = {Vision-Based Multi-Robot Simultaneous Localization and Mapping},
journal ={Computer and Robot Vision, Canadian Conference},
volume = {0},
year = {2004},
isbn = {0-7695-2127-4},
pages = {155-162},
doi = {http://doi.ieeecomputersociety.org/10.1109/CCCRV.2004.1301439},
publisher = {IEEE Computer Society},
address = {Los Alamitos, CA, USA},
}
 
 
RefWorks Procite/RefMan/Endnote
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TY - CONF
JO - Computer and Robot Vision, Canadian Conference
TI - Vision-Based Multi-Robot Simultaneous Localization and Mapping
SN - 0-7695-2127-4
SP155
EP162
A1 - Hassan Hajjdiab,
A1 - Robert Laganière,
PY - 2004
KW - sparse view matching
KW - robot localization
KW - homography
KW - camera pose estimation
VL - 0
JA - Computer and Robot Vision, Canadian Conference
ER -
 
Hassan Hajjdiab, University of Ottawa
Robert Laganière, University of Ottawa
In this paper we present a vision-based approach for the multi-robot Simultaneous Localization and Mapping (SLAM) problem. We study the case of a team of robots equipped with a single camera and collaborating in the same worksite. We propose to calculate the location of the robots by using a collection of sparse views of the planar surface on which these robots are moving. The camera motions are estimated using inter-image homographies computed from the matching of overhead transformed views. Results of map generated from the estimated robot locations are presented.
Index Terms:
sparse view matching, robot localization, homography, camera pose estimation
Citation:
Hassan Hajjdiab, Robert Laganière, "Vision-Based Multi-Robot Simultaneous Localization and Mapping," crv, pp.155-162, 1st Canadian Conference on Computer and Robot Vision (CRV'04), 2004
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