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Stereo-Vision Based Obstacle Mapping for Indoor/Outdoor SLAM

Brand, Christoph and Schuster, Martin and Hirschmüller, Heiko and Suppa, Michael (2014) Stereo-Vision Based Obstacle Mapping for Indoor/Outdoor SLAM. In: IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS 2014, September 14-18, 2014, Chicago, IL, USA.

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Abstract

The creation of local and global maps is crucial for (semi-)autonomous operation of mobile robots in previously unknown environments, e.g. during search and rescue missions. We developed an on-board stereo-vision based mapping system, thereby introducing local obstacle maps that can directly be used for fast local obstacle avoidance and path planning. In addition, we designed them to constitute a suitable input to a widely-used simultaneous localization and mapping (SLAM) algorithm. We performed experiments in unknown indoor, unstructured outdoor as well as mixed environments and demonstrated the applicability of our method to camera setups with small as well as wide field of view. In all three scenarios, we achieved a final 2D position error of less than 0.08% of the full trajectory.

Item URL in elib:https://elib.dlr.de/94506/
Document Type:Conference or Workshop Item (Speech)
Title:Stereo-Vision Based Obstacle Mapping for Indoor/Outdoor SLAM
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Brand, Christophchristoph.brand (at) dlr.deUNSPECIFIED
Schuster, MartinMartin.Schuster (at) dlr.deUNSPECIFIED
Hirschmüller, Heikoheiko.hirschmueller (at) dlr.deUNSPECIFIED
Suppa, MichaelMichael.Suppa (at) dlr.deUNSPECIFIED
Date:2014
Journal or Publication Title:IEEE/RSJ International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Status:Published
Keywords:SLAM, Localization, Search and Rescue
Event Title:IROS 2014
Event Location:Chicago, IL, USA
Event Type:international Conference
Event Dates:September 14-18, 2014
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Brand, Christoph
Deposited On:12 Jan 2015 18:15
Last Modified:09 Feb 2017 19:21

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