Abstract:
This paper proposes a method for simultaneous
localisation and mapping (SLAM) an indoor environment
using stereo vision. Specially designed artificial landmarks
distributed in the environment are observed and extracted
from a camera image. The disparity map obtained from the
stereo vision sysem is used to obtain the ranges to these
landmarks. The main contribution of the paper is the formulation
of the mathematical framework for SLAM for a robot
moving on a planar surface among landmarks distributed in
three dimensional space. The paper also presents the results of
experiments conducted using a Pioneer robot and a Triclops
stereo vision system. It is demonstrated that accurate robot
and feature locations can be obtained using the proposed
technique.
