Real-Time Visual SLAM Using Pre - Existing Floor Lines as Landmarks and a Single Camera
Autor(a) principal: | |
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Data de Publicação: | 2008 |
Outros Autores: | , |
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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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 |
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Universidade Federal do Rio Grande do Norte (UFRN) |
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UFRN |
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UFRN |
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Repositório Institucional da UFRN |
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Repositório Institucional da UFRN |
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