AHMED, M Shuja, SAATCHI, Reza and CAPARRELLI, Fabio (2013). Vision Based Environment Mapping By Network Connected Multi-Robotic System. In: Proceedings of the 3rd International Conference on Pervasive Embedded Computing and Communication Systems - Volume 1: PECCS. SCITEPRESS, 49-54. [Book Section]
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PaperID41.pdf - Accepted Version
Available under License All rights reserved.
PaperID41.pdf - Accepted Version
Available under License All rights reserved.
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Abstract
The conventional environment mapping solutions are computationally very expensive and cannot effectively
be used in multi-robotic environment, where small size robots with limited memory and processing resources
are used. This study provides an environment mapping solution in which a group of small size robots extract
simple distance vector features from the on-board camera images. The robots share these features between
them using a wireless communication network setup in infrastructure mode. For mapping the distance vector
features on a global map and to show a collective map building operation, the robots needed their accurate
location and heading information. The robots location and heading information is computed using two ceiling
mounted cameras, which collective localises the robots. Experimental results show that the proposed method
provides the required environmental map which can facilitate the robot navigation operation in the environ-
ment. It was observed that, using the proposed approach, the near by object boundaries can be mapped with
higher accuracy comparatively the far lying objects.
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