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

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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 languageEnglish
Title of host publication4th UKRAS21 Conference: Robotics at home Proceedings
PublisherEPSRC UK-RAS Network
Pages29-30
Number of pages2
DOIs
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
https://www.ukras.org.uk/news-and-events/uk-ras/

Publication series

NameUKRAS21 Conference: Robotics at home Proceedings
PublisherEPSRC UK-RAS Network
ISSN (Print)2516-502X

Conference

ConferenceThe 4th UK-RAS Conference for PhD Students & Early-Career Researchers on 'Robotics at Home'
Abbreviated title#UKRAS21
Country/TerritoryUnited Kingdom
CityHatfield
Period2/06/212/06/21
Internet address

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