SLAM for Indoor Environment Using Stereo Vision

摘要

In this paper, we propose a system which extracts image line features from stereo camera as landmarks, and use stereo property to obtain the 3D vertical line landmarks. This system is based on the EKF. To handle with measurement uncertainty, we use two different observation models. One is nearby landmark model, the other one faraway landmark model. Our system contains a wheeled robot, which serves as our experiment platform, odometer data, image line segmentation, landmark's 3D position reconstruction, and Extended Kalman Filter. Our system can use a single sensor to implement the EKF-based SLAM in real time. It can work in an environment lacking texture. The robot moves at a speed of 0.1m/s and simultaneously locates itself. The estimated error and computational time of this system are acceptable.