A practical approach for EKF-SLAM in an indoor environment: fusing ultrasonic sensors and stereo camera.
SungHwan AhnJinwoo ChoiNakju Lett DohWan Kyun ChungPublished in: Auton. Robots (2008)
Keyphrases
- indoor environments
- stereo camera
- simultaneous localization and mapping
- range sensors
- extended kalman filter
- mobile robot
- signal strength
- vision system
- visual slam
- stereo vision
- depth information
- point cloud
- stereo images
- path planning
- ego motion
- monocular slam
- gesture recognition
- stereo pair
- robotic systems
- depth map
- topological map
- disparity map
- data fusion
- real time
- autonomous navigation
- multi sensor
- input image
- computer vision