제목

Monocular SLAM based on Perspective Grid-Map

저자명

Jaehyoung Yu1, Hwanik Chung2 and Youngjoon Han3

영 문초록

In this paper, we propose a basic idea of Monocular SLAM using perspective grid in 3-dimensional space. The proposed algorithm assumes 3 kinds of conditions. 1) The camera is fixed with looking at underside, 2) The floor robot moving is flat, 3) There are no things in the air. We can make the perspective grid map using calibration information of the fixed camera, and calculate the estimated distance of the features in the world space. The proposed algorithm shows the relationship between the floor and another feature in the 3 dimensional space. Finally, we can get the 3-D reconstruction map with estimated real distance.

원문 수록처

ISSENL:PNU-SDUST International Joint Workshop on Robotics and Control 2012

자료유형 Conference Proceeding