RT Journal Article
T1 A FastSLAM-based Algorithm for Omnidirectional Cameras
A1 Gamallo Solórzano, Cristina
A1 Mucientes Molina, Manuel
A1 Vázquez Regueiro, Carlos
K1 Simultaneous localization and mapping
K1 FastSLAM
K1 Omnidirectional camera
K1 Hungarian association
AB Environments with a low density of landmarks are difficult for vision-based Simultaneous Localization and Mapping (SLAM) algorithms. The use of omnidirectional cameras, which have a wide field of view, is specially interesting in these environments as several landmarks are usually detected in each image. A typical example of this kind of situation happens in indoor environments when the lights placed on the ceiling are the landmarks. The use of omnivision combined with this type of landmarks presents two challenges: the data association and the initialization of the landmarks with a bearing-only sensor. In this paper we present a SLAM algorithm based on the wellknown FastSLAM approach. The proposal includes a novel hierarchical data association method based on the Hungarian algorithm, and a delayed initialization of the landmarks. The approach has been tested on a real environment with a Pioneer 3-DX robot
PB Universitat d'Alacant
SN 1888-0258
YR 2013
FD 2013
LK http://hdl.handle.net/10347/17701
UL http://hdl.handle.net/10347/17701
LA eng
NO Gamallo Solórzano, C., Mucientes Molina, M., & Vázquez Regueiro, C. (2013). A FastSLAM-based algorithm for omnidirectional cameras. Journal of Physical Agents, 7(1), 13-22. doi:https://doi.org/10.14198/JoPha.2013.7.1.03
NO This work was supported by the Spanish Ministry of Economy and Competitiveness under grants TIN2011-22935 and TIN2009-07737 and by the Galician Government (Consolidationof Competitive Research Groups, Xunta de Galicia ref. 2010/6). Manuel Mucientes is supported by the Ramón y Cajal program of the Spanish Ministry of Economy and Competitiveness
DS Minerva
RD 29 abr 2026