Machine Learning and Geometric Technique for SLAM

  • Miguel Bernal-Marin
  • Eduardo Bayro-Corrochano
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5856)


This paper describes a new approach for building 3D geometric maps using a laser rangefinder, a stereo camera system and a mathematical system the Conformal Geometric Algebra. The use of a known visual landmarks in the map helps to carry out a good localization of the robot. A machine learning technique is used for recognition of objects in the environment. These landmarks are found using the Viola and Jones algorithm and are represented with their position in the 3D virtual map.


Mobile Robot Normalize Cross Correlation Epipolar Line Visual Landmark Geometric Entity 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • Miguel Bernal-Marin
    • 1
  • Eduardo Bayro-Corrochano
    • 1
  1. 1.Department of Electrical Engineering and Computer SciencesCINVESTAV Unidad GuadalajaraZapopanMexico

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