IMAGE-BASED SIMULTANEOUS LOCALIZATION AND MAPPING FOR MOVING ROBOT

摘要

PURPOSE: An image-based simultaneous localization and mapping for moving robot are provided to simplify data handling by expressing a vertical straight line composing three dimensions and a floor straight line in a two dimensional plane. CONSTITUTION: A first candidate straight line is determined from extracted lines of photographing images. A corresponding estimated straight line expected in the next photographing images according to the movement of a robot is calculated. A second candidate straight line is determined from the photographing images after the robots moved. The identity of the estimated straight line and the second candidate straight line is determined. A map is made based on the second candidate straight line admitted to have an identity with an estimated straight line.