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Sensors 2010, 10(5), 5209-5232; doi:10.3390/s100505209
Article

Estimation of Visual Maps with a Robot Network Equipped with Vision Sensors

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Received: 11 February 2010; in revised form: 31 March 2010 / Accepted: 14 April 2010 / Published: 25 May 2010
(This article belongs to the Special Issue Intelligent Sensors - 2010)
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Abstract: In this paper we present an approach to the Simultaneous Localization and Mapping (SLAM) problem using a team of autonomous vehicles equipped with vision sensors. The SLAM problem considers the case in which a mobile robot is equipped with a particular sensor, moves along the environment, obtains measurements with its sensors and uses them to construct a model of the space where it evolves. In this paper we focus on the case where several robots, each equipped with its own sensor, are distributed in a network and view the space from different vantage points. In particular, each robot is equipped with a stereo camera that allow the robots to extract visual landmarks and obtain relative measurements to them. We propose an algorithm that uses the measurements obtained by the robots to build a single accurate map of the environment. The map is represented by the three-dimensional position of the visual landmarks. In addition, we consider that each landmark is accompanied by a visual descriptor that encodes its visual appearance. The solution is based on a Rao-Blackwellized particle filter that estimates the paths of the robots and the position of the visual landmarks. The validity of our proposal is demonstrated by means of experiments with a team of real robots in a office-like indoor environment.
Keywords: visual SLAM; sensor fusion; uncertainty estimation; cooperative robots visual SLAM; sensor fusion; uncertainty estimation; cooperative robots
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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MDPI and ACS Style

Gil, A.; Reinoso, Ó.; Ballesta, M.; Juliá, M.; Payá, L. Estimation of Visual Maps with a Robot Network Equipped with Vision Sensors. Sensors 2010, 10, 5209-5232.

AMA Style

Gil A, Reinoso Ó, Ballesta M, Juliá M, Payá L. Estimation of Visual Maps with a Robot Network Equipped with Vision Sensors. Sensors. 2010; 10(5):5209-5232.

Chicago/Turabian Style

Gil, Arturo; Reinoso, Óscar; Ballesta, Mónica; Juliá, Miguel; Payá, Luis. 2010. "Estimation of Visual Maps with a Robot Network Equipped with Vision Sensors." Sensors 10, no. 5: 5209-5232.


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