The SLAM algorithm of mobile robot with omnidirectional vision based on EKF

Abstract

An improved simultaneous localization and mapping(SLAM) method based on extended Kalman filter(EKF) is presented to solve the SLAM problem of mobile robot with omnidirectional vision. The environment feature is extracted from the environment information around the mobile robot got by onmidirectional vision, then the landmark is located, finally, the position and attitude of the mobile robot and the map library are updated synchronously by using the EKF algorithm. Simulation results and real robot experiment results indicate the effectiveness and accuracy of the proposed approach.