Vision-based multi-robot simultaneous localization and mapping
Authors:
- R. LaganiereRLR. Laganiere
- 10 June 2004
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 30, 155-162
Abstract
In this paper we present a vision-based approach for the multi-robot Simultaneous Localization and Mapping (SLAM) problem. We study the case of a team of robots equipped with a single camera and collaborating in the same worksite. We propose to calculate the location of the robots by using a collection of sparse views of the planar surface on which these robots are moving. The camera motions are estimated using inter-image homographies computed from the matching of overhead transformed views. Results of map generated from the estimated robot locations are presented.Keywords
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