Simultaneous localization and map building for mobile robots with omnidirectional estereo vision.

Author(s)

Paulo Roberto Godoi de Oliveira

• Document type: Master's Dissertation
• Press: São Paulo.
• Institution: Universidade de São Paulo (USP). Escola Politécnica (EP/BC)
• Defense date: 2008-04-14

Examining board members

Eduardo Lobo Lustosa Cabral; Fabio Gagliardi Cozman; Carlos Henrique Quartucci Forster

• Advisor: Eduardo Lobo Lustosa Cabral

Abstract

This project aims the development of a system for self localization and environment map building for mobile robots in a structured environment. The map is built from images acquired by an omnidirectional stereo system with a hyperbolic double lobed mirror. From a single acquired image, using stereo vision algorithms, the environment around the robot is tridimensionally reconstruct and the distances of objects in the environment from the system are calculated. From the matching of several reconstructed environments obtained from images taken in different positions the global environment map is created. Besides the global map the system also calculates the localization of the mobile robot using information obtained from the matching of the sequence of image reconstructions and the robot odometry. The map building and robot localization system is tested in virtual and real environments. The computational time required to make the calculation is of the order of few seconds. The results obtained both for the map building and for the robot localization show that the system is capable of generating information with enough accuracy to allow it to be used for mobile robot navigation. This project had as start point a scientific initiation project supported by FAPESP. The scientific initiation project was published as a graduation work (Oliveira, 2005). (AU)