Affordable robot mapping using omnidirectional vision

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

doi:10.31256/If7Nm5Z

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 proceeding › Conference contribution

Abstract

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 language	English
Title of host publication	Proceedings of the 4th UK-RAS Conference: Robotics at Home (#UKRAS21)
Pages	29-30
DOIs	https://doi.org/10.31256/If7Nm5Z
Publication status	Published - 15 Jul 2021
Event	The 4th UK-RAS Conference for PhD Students & Early-Career Researchers on 'Robotics at Home' - Online, Hatfield, United Kingdom Duration: 2 Jun 2021 → 2 Jun 2021 Conference number: 4 https://www.ukras.org/news-and-events/uk-ras/

Conference

Conference	The 4th UK-RAS Conference for PhD Students & Early-Career Researchers on 'Robotics at Home'
Abbreviated title	#UKRAS21
Country/Territory	United Kingdom
City	Hatfield
Period	2/06/21 → 2/06/21
Internet address	https://www.ukras.org/news-and-events/uk-ras/

Access to Document

10.31256/If7Nm5Z

Embargoed Document

accepted-version
Accepted author manuscript, 883 KB
Licence: Unspecified

Cite this

@inproceedings{25e00823d2b048929ec0a5595a650be0,

title = "Affordable robot mapping using omnidirectional vision",

abstract = "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.",

author = "{Bamorovat Abadi}, Mohammad and {Shahabian Alashti}, {Mohamad Reza} and Patrick Holthaus and Catherine Menon and Farshid Amirabdollahian",

note = "{\textcopyright} 2021 EPSRC UK-Robotics and Autonomous Systems (UK-RAS) Network; The 4th UK-RAS Conference for PhD Students & Early-Career Researchers on 'Robotics at Home', #UKRAS21 ; Conference date: 02-06-2021 Through 02-06-2021",

year = "2021",

month = jul,

day = "15",

doi = "10.31256/If7Nm5Z",

language = "English",

pages = "29--30",

booktitle = "Proceedings of the 4th UK-RAS Conference: Robotics at Home (#UKRAS21)",

url = "https://www.ukras.org/news-and-events/uk-ras/",

}

Bamorovat Abadi, M, Shahabian Alashti, MR, Holthaus, P , Menon, C & Amirabdollahian, F 2021, Affordable robot mapping using omnidirectional vision. in Proceedings of the 4th UK-RAS Conference: Robotics at Home (#UKRAS21). pp. 29-30, The 4th UK-RAS Conference for PhD Students & Early-Career Researchers on 'Robotics at Home', Hatfield, United Kingdom, 2/06/21. https://doi.org/10.31256/If7Nm5Z

TY - GEN

T1 - Affordable robot mapping using omnidirectional vision

AU - Bamorovat Abadi, Mohammad

AU - Shahabian Alashti, Mohamad Reza

AU - Holthaus, Patrick

AU - Menon, Catherine

AU - Amirabdollahian, Farshid

N1 - Conference code: 4

PY - 2021/7/15

Y1 - 2021/7/15

N2 - 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.

AB - 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.

U2 - 10.31256/If7Nm5Z

DO - 10.31256/If7Nm5Z

M3 - Conference contribution

SP - 29

EP - 30

BT - Proceedings of the 4th UK-RAS Conference: Robotics at Home (#UKRAS21)

T2 - The 4th UK-RAS Conference for PhD Students & Early-Career Researchers on 'Robotics at Home'

Y2 - 2 June 2021 through 2 June 2021

ER -

Affordable robot mapping using omnidirectional vision

Abstract

Conference

Access to Document

Embargoed Document

Fingerprint

Cite this