Mobile Robot Localization and Map Building using Monocular Vision
نویسندگان
چکیده
In this paper we analyze the fundamental aspects of the construction of indoor maps suitable for their use in navigation tasks by a mobile robot We highlight the limitations inherent to the use of a priori maps We show the fundamental problems related to the simultaneous construction of the map and the localization of the robot within this map We describe an experiment with the use of a monocular vision system to build a vertical edge based environmental map for robot localization purposes and discuss its results
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تاریخ انتشار 1997