Vision-Based Multi-Robot Simultaneous Localization and Mapping

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	Similar Articles Articles by Hassan Hajjdiab Articles by Robert Laganière

1st Canadian Conference on Computer and Robot Vision (CRV'04)

University of Western Ontario, London, Ontario, Canada

May 17-May 19

ISBN: 0-7695-2127-4

	ASCII Text	x
	Hassan Hajjdiab, Robert Laganière, "Vision-Based Multi-Robot Simultaneous Localization and Mapping," Computer and Robot Vision, Canadian Conference, pp. 155-162, 1st Canadian Conference on Computer and Robot Vision (CRV'04), 2004.

	BibTex	x
	@article{ 10.1109/CCCRV.2004.1301439, author = {Hassan Hajjdiab and Robert Laganière}, title = {Vision-Based Multi-Robot Simultaneous Localization and Mapping}, journal ={Computer and Robot Vision, Canadian Conference}, volume = {0}, year = {2004}, isbn = {0-7695-2127-4}, pages = {155-162}, doi = {http://doi.ieeecomputersociety.org/10.1109/CCCRV.2004.1301439}, publisher = {IEEE Computer Society}, address = {Los Alamitos, CA, USA}, }

	RefWorks Procite/RefMan/Endnote	x
	TY - CONF JO - Computer and Robot Vision, Canadian Conference TI - Vision-Based Multi-Robot Simultaneous Localization and Mapping SN - 0-7695-2127-4 SP155 EP162 A1 - Hassan Hajjdiab, A1 - Robert Laganière, PY - 2004 KW - sparse view matching KW - robot localization KW - homography KW - camera pose estimation VL - 0 JA - Computer and Robot Vision, Canadian Conference ER -

Hassan Hajjdiab, University of Ottawa

Robert Laganière, University of Ottawa

DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/CCCRV.2004.1301439

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.

Index Terms:

sparse view matching, robot localization, homography, camera pose estimation

Citation:

Hassan Hajjdiab, Robert Laganière, "Vision-Based Multi-Robot Simultaneous Localization and Mapping," crv, pp.155-162, 1st Canadian Conference on Computer and Robot Vision (CRV'04), 2004

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