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The National Foundation for Science and Technology Development (NAFOSTED) Conference on Information and Computer Science

NAFOSTED 2014: Some Current Advanced Researches on Information and Computer Science in Vietnam pp 107–121Cite as

Bearing-Only Simultaneous Localization and Mapping Using Omnidirectional Camera

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Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 341))

Abstract

In this paper, we present a solution to the Simultaneous Localization and Mapping (SLAM) problem for an indoor robot using bearing-only observations. An omnidirectional camera is used to observe indoor scene from which vertical lines are extracted to obtain bearing measurements. To track vertical lines through sequence of omnidirectional images, a matching algorithm based on histogram of oriented gradients technique is proposed. The Extended Kalman Filter (EKF) is used to estimate the 3-DoF motion of the robot along with two-dimensional positions of vertical lines in the environment. In order to overcome bearing-only initialization, the Unscented Transform is used to estimate the probability distribution function (PDF) of an initialized vertical line. Simulations and real experiments have been carried out to validate the proposed algorithm.

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Acknowledgments

This work was supported by the Russian Foundation for Research Projects under the contract No \(02.740.11.0558\).

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Authors and Affiliations

  1. Tula State University, Lenin Str. 92, Tula, Russian Federation

    Tran Dang Khoa Phan & Aleksandr Ovchinnikov

Authors
  1. Tran Dang Khoa Phan
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  2. Aleksandr Ovchinnikov
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Corresponding author

Correspondence to Tran Dang Khoa Phan .

Editor information

Editors and Affiliations

  1. Institute of Information Technology, Vietnam Academy of Science and Technology, Hanoi, Vietnam

    Quang A. Dang

  2. IT Research and Development Center, Hanoi University, Hanoi, Vietnam

    Xuan Hoai Nguyen

  3. Faculty of Information Technology, University of Science, Hochiminh, Vietnam

    Hoai Bac Le

  4. University of Engineering and Technology, Hanoi, Vietnam

    Viet Ha Nguyen

  5. Posts and Telecommunications Institute of Technology, Ho Chi Minh, Vietnam

    Vo Nguyen Quoc Bao

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© 2015 Springer International Publishing Switzerland

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Phan, T.D.K., Ovchinnikov, A. (2015). Bearing-Only Simultaneous Localization and Mapping Using Omnidirectional Camera. In: Dang, Q., Nguyen, X., Le, H., Nguyen, V., Bao, V. (eds) Some Current Advanced Researches on Information and Computer Science in Vietnam. NAFOSTED 2014. Advances in Intelligent Systems and Computing, vol 341. Springer, Cham. https://doi.org/10.1007/978-3-319-14633-1_8

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  • DOI: https://doi.org/10.1007/978-3-319-14633-1_8

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-14632-4

  • Online ISBN: 978-3-319-14633-1

  • eBook Packages: EngineeringEngineering (R0)

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