Resumen de A FastSLAM-based algorithm for omnidirectional cameras

Cristina Gamallo Solórzano, Manuel Mucientes Molina, Carlos V. Regueiro

• Environments with a low density of landmarks are difficult for vision-based Simultaneous Localization and M apping (SLAM) algorithms. The use of omnidirectional cameras, whi ch have a wide field of view, is specially interesting in these environments as several landmarks are usually detected in e ach image. A typical example of this kind of situation happens in indoor environments when the lights placed on the ceiling ar e the landmarks. The use of omnivision combined with this type of landmarks presents two challenges: the data association and the initialization of the landmarks with a bearing-only sen sor.

  In this paper we present a SLAM algorithm based on the well- known FastSLAM approach [1]. The proposal includes a novel hierarchical data association method based on the Hungaria n algorithm, and a delayed initialization of the landmarks. T he approach has been tested on a real environment with a Pioneer 3-DX robot.