Simultaneous Localization and Map building using Vision Camera and Electrical Compass

摘要

Simultaneous localization and map building (SLAM) problem is occurred under the situation that a robot is moving on the unknown place. In this paper, We study the SLAM of the mobile autonomous robot system. We assume that the moving space of robots is the Ideal indoor space. Also, we suggest the data format to build the map. The data format is only used for this robot system. But it may be useful to the other robot systems. Most important thing that we present in this paper is using the electrical compass. We can get the points of the electrical compass. That point represents an original direction of the robot. Precisely, in this research, the robot uses the electrical compass and vision camera to solve the kidnapping. The robot has to deal with the points of the compass as the map building parameters. As an application for the SLAM on the autonomous mobile robot system, this study is aimed to optimize the performance of the robot navigation on the 2-D space with vision camera and electrical compass. So this paper suggests the new data format to solve the SLAM problem. Moreover, how the robot can find its own position in the kidnapping situations for itself. The robot has to be more intelligent and smart. The method is sufficient to the robot applications.