Navigation‎ > ‎

Mono-SLAM

Mono-SLAM Using An Upward-Facing Camera
  • Researchers
    • Seo-Yeon Hwang (Ph.D. candidate, etoile02@korea.ac.kr)

  • Research Backgrounds
    • Features from the ceiling image result in a small change in the scale of features and affine parameters. 
    • Images from the upward-looking camera are affected little by dynamic obstacles. 
    • Infrequent change in ceiling structures. 
  • Research Objectives
    • Monocular vision-based SLAM (simultaneous localization and mapping) using upward camera in indoor environments.
    • Stable SLAM in various environments.
    • Implementation to a small-sized embedded system module.


  • Research Output
    • Using various ceiling features to achieve stable SLAM.




    • Estimation of the robot pose and feature position/orientation using filtering techniques (e.g., EKF).

       



    • Small-sized embedded SLAM module



    • SLAM in home environment 



    • Videos





  • Related Documents
    • (Will be updated)


* Last updated: 2012. 4. 26