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Proceedings Paper

Vision-based mapping with cooperative robots
Author(s): James J. Little; Cullen Jennings; Don Murray
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Paper Abstract

Two stereo-vision-based mobile robots navigate and autonomously explore their environment safely while building occupancy grid maps of the environment. The robots maintain position estimates within a global coordinate frame using landmark recognition. This allows them to build a common map by sharing position information and stereo data. Stereo vision processing and map updates are done at 3 Hz and the robots move at speeds of 200 cm/s. Cooperative mapping is achieved through autonomous exploration of unstructured and dynamic environments. The map is constructed conservatively, so as to be useful for collision-free path planning. Each robot maintains a separate copy of a shared map, and then posts updates to the common map when it returns to observe a landmark at home base. Issues include synchronization, mutual localization, navigation, exploration, registration of maps, merging repeated views (fusion), centralized vs decentralized maps.

Paper Details

Date Published: 9 October 1998
PDF: 11 pages
Proc. SPIE 3523, Sensor Fusion and Decentralized Control in Robotic Systems, (9 October 1998); doi: 10.1117/12.326999
Show Author Affiliations
James J. Little, Univ. of British Columbia (Canada)
Cullen Jennings, Univ. of British Columbia (Canada)
Don Murray, Univ. of British Columbia (Canada)


Published in SPIE Proceedings Vol. 3523:
Sensor Fusion and Decentralized Control in Robotic Systems
Paul S. Schenker; Gerard T. McKee, Editor(s)

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