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