| Título |
Embedded Visual SLAM for navigation of an autonomous vehicle |
| Tipo |
Congreso |
| Sub-tipo |
Memoria |
| Descripción |
IASTED InternationalConference on Robotics (Robo 2011) |
| Resumen |
An important objective of an autonomous vehicle is to navigate through an unknown environment. A method used to achieve this objective is to generate a map. A map provides the means to the vehicle to create paths between the visited places autonomously in order to perform a task. A particular problem is to obtain such a map when there is no initial knowledge of the surroundings or not even the initial position of the robot in the environment. The present paper shows a new design of a Visual SLAM processor that solves this problem and it is implemented on an FPGA. The processor is then tested on a differential traction mobile robot with a computer vision system that travels on a controlled unknown environment. The experimental results obtained show a good performance in real time. |
| Observaciones |
DOI: 10.2316/P.2011.752-074 |
| Lugar |
Pittsburgh |
| País |
Estados Unidos |
| No. de páginas |
211-218 |
| Vol. / Cap. |
|
| Inicio |
2011-11-07 |
| Fin |
2011-11-09 |
| ISBN/ISSN |
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