A unified visual graph-based approach to navigation for wheeled mobile robots

J. Hartmann; J. H. Klüssendorff; E. Maehle

doi:10.1109/IROS.2013.6696610

A unified visual graph-based approach to navigation for wheeled mobile robots

J. Hartmann, J. H. Klüssendorff, E. Maehle

Institut für Technische Informatik

9 Zitate (Scopus)

Abstract

The emergence of affordable 3D cameras in recent years has led to an increased interest in camera-based navigation solutions. Yet, while there have been significant efforts in the field of visual simultaneous localization and mapping (VSLAM), a complete navigation package that could rival popular laser-based solutions is not available. In this paper, we will therefore introduce visual solutions to SLAM, localization, and path planning in a unified graph-based framework with the main target of wheeled robots in industrial applications. Novel solutions will be introduced in the fields of place recognition and loop closing as well as localization. Our algorithms will be built for the Robot Operating System (ROS) and fully replace the popular gmapping and AMCL algorithms.

Originalsprache	Englisch
Titel	2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Seitenumfang	8
Herausgeber (Verlag)	IEEE
Erscheinungsdatum	01.11.2013
Seiten	1915-1922
Aufsatznummer	6696610
ISBN (Print)	978-1-4673-6357-0
ISBN (elektronisch)	978-1-4673-6358-7
DOIs	https://doi.org/10.1109/IROS.2013.6696610
Publikationsstatus	Veröffentlicht - 01.11.2013
Veranstaltung	2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon - Tokyo, Japan Dauer: 03.11.2013 → 08.11.2013 Konferenznummer: 102443

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SDG 9 – Industrie, Innovation und Infrastruktur

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10.1109/IROS.2013.6696610

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https://www.scopus.com/pages/publications/84893724689

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@inproceedings{dec8694ef77c4a8b919f347e7a52bb20,

title = "A unified visual graph-based approach to navigation for wheeled mobile robots",

abstract = "The emergence of affordable 3D cameras in recent years has led to an increased interest in camera-based navigation solutions. Yet, while there have been significant efforts in the field of visual simultaneous localization and mapping (VSLAM), a complete navigation package that could rival popular laser-based solutions is not available. In this paper, we will therefore introduce visual solutions to SLAM, localization, and path planning in a unified graph-based framework with the main target of wheeled robots in industrial applications. Novel solutions will be introduced in the fields of place recognition and loop closing as well as localization. Our algorithms will be built for the Robot Operating System (ROS) and fully replace the popular gmapping and AMCL algorithms.",

author = "J. Hartmann and Kl{\"u}ssendorff, \{J. H.\} and E. Maehle",

year = "2013",

month = nov,

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doi = "10.1109/IROS.2013.6696610",

language = "English",

isbn = "978-1-4673-6357-0",

series = "IEEE International Conference on Intelligent Robots and Systems",

publisher = "IEEE",

pages = "1915--1922",

booktitle = "2013 IEEE/RSJ International Conference on Intelligent Robots and Systems",

note = "2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 ; Conference date: 03-11-2013 Through 08-11-2013",

}

Hartmann, J, Klüssendorff, JH & Maehle, E 2013, A unified visual graph-based approach to navigation for wheeled mobile robots. in 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems., 6696610, IEEE International Conference on Intelligent Robots and Systems, IEEE, S. 1915-1922, 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, Tokyo, Japan, 03.11.13. https://doi.org/10.1109/IROS.2013.6696610

A unified visual graph-based approach to navigation for wheeled mobile robots. / Hartmann, J.; Klüssendorff, J. H.; Maehle, E.
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2013. S. 1915-1922 6696610 (IEEE International Conference on Intelligent Robots and Systems).

Publikation: Kapitel in Büchern/Berichten/Konferenzbänden › Konferenzbeitrag › Begutachtung

TY - GEN

T1 - A unified visual graph-based approach to navigation for wheeled mobile robots

AU - Hartmann, J.

AU - Klüssendorff, J. H.

AU - Maehle, E.

N1 - Conference code: 102443

PY - 2013/11/1

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N2 - The emergence of affordable 3D cameras in recent years has led to an increased interest in camera-based navigation solutions. Yet, while there have been significant efforts in the field of visual simultaneous localization and mapping (VSLAM), a complete navigation package that could rival popular laser-based solutions is not available. In this paper, we will therefore introduce visual solutions to SLAM, localization, and path planning in a unified graph-based framework with the main target of wheeled robots in industrial applications. Novel solutions will be introduced in the fields of place recognition and loop closing as well as localization. Our algorithms will be built for the Robot Operating System (ROS) and fully replace the popular gmapping and AMCL algorithms.

AB - The emergence of affordable 3D cameras in recent years has led to an increased interest in camera-based navigation solutions. Yet, while there have been significant efforts in the field of visual simultaneous localization and mapping (VSLAM), a complete navigation package that could rival popular laser-based solutions is not available. In this paper, we will therefore introduce visual solutions to SLAM, localization, and path planning in a unified graph-based framework with the main target of wheeled robots in industrial applications. Novel solutions will be introduced in the fields of place recognition and loop closing as well as localization. Our algorithms will be built for the Robot Operating System (ROS) and fully replace the popular gmapping and AMCL algorithms.

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ER -

A unified visual graph-based approach to navigation for wheeled mobile robots

Abstract

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