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학술지 어안 렌즈와 레이저 스캐너를 이용한 3차원 전방향 영상 SLAM
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저자
최윤원, 최정원, 이석규
발행일
201507
출처
제어로봇시스템학회논문지, v.21 no.7, pp.634-640
ISSN
1976-5622
출판사
제어로봇시스템학회
DOI
https://dx.doi.org/10.5302/J.ICROS.2015.15.0002
협약과제
14ZC2400, 상황인지 스마트카를위한 다중 센서 플랫폼기술개발, 권기구
초록
This paper proposes a novel three-dimensional mapping algorithm in Omni-Directional Vision SLAM based on a fisheye image and laser scanner data. The performance of SLAM has been improved by various estimation methods, sensors with multiple functions, or sensor fusion. Conventional 3D SLAM approaches which mainly employed RGB-D cameras to obtain depth information are not suitable for mobile robot applications because RGB-D camera system with multiple cameras have a greater size and slow processing time for the calculation of the depth information for omni-directional images. In this paper, we used a fisheye camera installed facing downwards and a two-dimensional laser scanner separate from the camera at a constant distance. We calculated fusion points from the plane coordinates of obstacles obtained by the information of the two-dimensional laser scanner and the outline of obstacles obtained by the omni-directional image sensor that can acquire surround view at the same time. The effectiveness of the proposed method is confirmed through comparison between maps obtained using the proposed algorithm and real maps.
키워드
3D vision slam, Fish-eye lens, Laser scanner, Omnidirectional vision
KSP 제안 키워드
3D SLAM, 3D Vision, Camera system, Constant distance, Depth information, Estimation method, Fisheye images, Fisheye lens, Image Sensor, Laser scanner data, Mapping algorithm