Real-Time Visual SLAM Using Pre - Existing Floor Lines as Landmarks and a Single Camera

Detalhes bibliográficos
Autor(a) principal: Macedo, Andre S.
Data de Publicação: 2008
Outros Autores: Santiago, Gutemberg S., Medeiros, Adelardo Adelino Dantas de
Tipo de documento: Artigo
Idioma: por
Título da fonte: Repositório Institucional da UFRN
Texto Completo: https://repositorio.ufrn.br/jspui/handle/1/6115
Resumo: SANTANA, André M.; SANTIAGO, Gutemberg S.; MEDEIROS, Adelardo A. D. Real-Time Visual SLAM Using Pre-Existing Floor Lines as Landmarks and a Single Camera. In: CONGRESSO BRASILEIRO DE AUTOMÁTICA, 2008, Juiz de Fora, MG. Anais... Juiz de Fora: CBA, 2008.
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spelling Macedo, Andre S.Santiago, Gutemberg S.Medeiros, Adelardo Adelino Dantas de2010-12-09T19:55:06Z2010-12-09T19:55:06Z2008MACEDO, A.S.; SANTIAGO, G.S.; MEDEIROS, A.A.D. (2008)https://repositorio.ufrn.br/jspui/handle/1/6115SANTANA, André M.; SANTIAGO, Gutemberg S.; MEDEIROS, Adelardo A. D. Real-Time Visual SLAM Using Pre-Existing Floor Lines as Landmarks and a Single Camera. In: CONGRESSO BRASILEIRO DE AUTOMÁTICA, 2008, Juiz de Fora, MG. Anais... Juiz de Fora: CBA, 2008.This work proposes a SLAM (Simultaneous Localization and Mapping) technique based on Extended Kalman Filter (EKF) to navigate a robot in an indoor environment using odometry and pre-existing lines on the floor as landmarks. The lines are identified by using the Hough transform. The prediction phase of the EKF is implemented using the odometry model of the robot. The update phase directly uses the parameters of the lines detected by the Hough transform without additional intermediate calculations. Experiments with real data are presented. RESUMO: Este trabalho propõe uma técnica para SLAM (Simultaneous Localization and Mapping) baseada no filtro de Kalman estendido (EKF) para navegar um robô em um ambiente indoor usando odometria e linhas pré-existentes no chão como marcos. As linhas são identificadas usando a transformada de Hough. A fase de predição do EKF é feita usando o modelo de odometria do robô. A fase de atualização usa diretamente os parâmetros das linhas detectados pela transformada de Hough sem cálculos adicionais intermediários. São apresentados experimentos com dados reaisporCongresso Brasileiro de AutomáticaSLAMKalman filterHough transformSLAMFiltro de KalmanTransformada de HoughReal-Time Visual SLAM Using Pre - Existing Floor Lines as Landmarks and a Single Camerainfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleinfo:eu-repo/semantics/openAccessreponame:Repositório Institucional da UFRNinstname:Universidade Federal do Rio Grande do Norte (UFRN)instacron:UFRNORIGINAL2008Eve_Real-Time Visual_AdelardoADM.pdf2008Eve_Real-Time Visual_AdelardoADM.pdfapplication/pdf256000https://repositorio.ufrn.br/bitstream/1/6115/1/2008Eve_Real-Time%20Visual_AdelardoADM.pdf3e2028ae6e0e3a00f210e29aed5e09feMD51LICENSElicense.txtlicense.txttext/plain; charset=utf-81748https://repositorio.ufrn.br/bitstream/1/6115/2/license.txt8a4605be74aa9ea9d79846c1fba20a33MD52TEXT2008Eve_Real-Time Visual_AdelardoADM.pdf.txt2008Eve_Real-Time Visual_AdelardoADM.pdf.txtExtracted texttext/plain22793https://repositorio.ufrn.br/bitstream/1/6115/7/2008Eve_Real-Time%20Visual_AdelardoADM.pdf.txt1a91d79c101a304f52c90484480c826bMD57THUMBNAIL2008Eve_Real-Time Visual_AdelardoADM.pdf.jpg2008Eve_Real-Time Visual_AdelardoADM.pdf.jpgIM Thumbnailimage/jpeg6484https://repositorio.ufrn.br/bitstream/1/6115/8/2008Eve_Real-Time%20Visual_AdelardoADM.pdf.jpg82cfdab9da1c54422c12b8bafdb05204MD581/61152017-11-02 16:52:26.19oai:https://repositorio.ufrn.br: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Repositório de PublicaçõesPUBhttp://repositorio.ufrn.br/oai/opendoar:2017-11-02T19:52:26Repositório Institucional da UFRN - Universidade Federal do Rio Grande do Norte (UFRN)false
dc.title.pt_BR.fl_str_mv Real-Time Visual SLAM Using Pre - Existing Floor Lines as Landmarks and a Single Camera
title Real-Time Visual SLAM Using Pre - Existing Floor Lines as Landmarks and a Single Camera
spellingShingle Real-Time Visual SLAM Using Pre - Existing Floor Lines as Landmarks and a Single Camera
Macedo, Andre S.
SLAM
Kalman filter
Hough transform
SLAM
Filtro de Kalman
Transformada de Hough
title_short Real-Time Visual SLAM Using Pre - Existing Floor Lines as Landmarks and a Single Camera
title_full Real-Time Visual SLAM Using Pre - Existing Floor Lines as Landmarks and a Single Camera
title_fullStr Real-Time Visual SLAM Using Pre - Existing Floor Lines as Landmarks and a Single Camera
title_full_unstemmed Real-Time Visual SLAM Using Pre - Existing Floor Lines as Landmarks and a Single Camera
title_sort Real-Time Visual SLAM Using Pre - Existing Floor Lines as Landmarks and a Single Camera
author Macedo, Andre S.
author_facet Macedo, Andre S.
Santiago, Gutemberg S.
Medeiros, Adelardo Adelino Dantas de
author_role author
author2 Santiago, Gutemberg S.
Medeiros, Adelardo Adelino Dantas de
author2_role author
author
dc.contributor.author.fl_str_mv Macedo, Andre S.
Santiago, Gutemberg S.
Medeiros, Adelardo Adelino Dantas de
dc.subject.por.fl_str_mv SLAM
Kalman filter
Hough transform
SLAM
Filtro de Kalman
Transformada de Hough
topic SLAM
Kalman filter
Hough transform
SLAM
Filtro de Kalman
Transformada de Hough
description SANTANA, André M.; SANTIAGO, Gutemberg S.; MEDEIROS, Adelardo A. D. Real-Time Visual SLAM Using Pre-Existing Floor Lines as Landmarks and a Single Camera. In: CONGRESSO BRASILEIRO DE AUTOMÁTICA, 2008, Juiz de Fora, MG. Anais... Juiz de Fora: CBA, 2008.
publishDate 2008
dc.date.issued.fl_str_mv 2008
dc.date.accessioned.fl_str_mv 2010-12-09T19:55:06Z
dc.date.available.fl_str_mv 2010-12-09T19:55:06Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
format article
status_str publishedVersion
dc.identifier.citation.fl_str_mv MACEDO, A.S.; SANTIAGO, G.S.; MEDEIROS, A.A.D. (2008)
dc.identifier.uri.fl_str_mv https://repositorio.ufrn.br/jspui/handle/1/6115
identifier_str_mv MACEDO, A.S.; SANTIAGO, G.S.; MEDEIROS, A.A.D. (2008)
url https://repositorio.ufrn.br/jspui/handle/1/6115
dc.language.iso.fl_str_mv por
language por
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.publisher.none.fl_str_mv Congresso Brasileiro de Automática
publisher.none.fl_str_mv Congresso Brasileiro de Automática
dc.source.none.fl_str_mv reponame:Repositório Institucional da UFRN
instname:Universidade Federal do Rio Grande do Norte (UFRN)
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reponame_str Repositório Institucional da UFRN
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