Affordable robot mapping using omnidirectional vision

Mohammad Bamorovat Abadi, Mohamad Reza Shahabian Alashti, Patrick Holthaus, Catherine Menon, Farshid Amirabdollahian

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Mapping is a fundamental requirement for robot navigation.
In this paper, we introduce a novel visual mapping method that relies solely on a single omnidirectional camera.
We present a metric that allows us to generate a map from the input image by using a visual Sonar approach.
The combination of the visual sonars with the robot's odometry enables us to determine a relation equation and subsequently generate a map that is suitable for robot navigation.
Results based on visual map comparison indicate that our approach is comparable with the established solutions based on RGB-D cameras or laser-based sensors. We now embark on evaluating our accuracy against the established methods.
Original languageEnglish
Title of host publicationProceedings of the 4th UK-RAS Conference: Robotics at Home (#UKRAS21)
Publication statusPublished - 15 Jul 2021
EventThe 4th UK-RAS Conference for PhD Students & Early-Career Researchers on 'Robotics at Home' - Online, Hatfield, United Kingdom
Duration: 2 Jun 20212 Jun 2021
Conference number: 4


ConferenceThe 4th UK-RAS Conference for PhD Students & Early-Career Researchers on 'Robotics at Home'
Abbreviated title#UKRAS21
Country/TerritoryUnited Kingdom
Internet address


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