Title:
EasySLAM
EasySLAM
Authors
Fathi, Alireza
Cunningham, Alex
Paluri, Balmanohar
Ni, Kai
Dellaert, Frank
Cunningham, Alex
Paluri, Balmanohar
Ni, Kai
Dellaert, Frank
Advisors
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Abstract
EasySLAM is a robust, accurate, efficient and
easy-to-use visual SLAM framework which uses the unique
properties of planar landmarks to navigate robots in societal
settings. Due to the use of landmarks which can be associated
with semantics, a hybrid symbolic-metric SLAM variant is
obtained that makes the maps immediately usable for human-robot
interaction, high-level monitoring, and semantic analysis.
EasySLAM associates a set of landmarks to each part of the
house (e.g. kitchen, living room, bathroom, bedroom, etc.) and
takes navigation commands such as "go to kitchen". Loalization
and mapping, planning and navigation results are presented
with an inexpensive, commercially available robot and uniquely
identifiable markers.
SLAM with planar landmarks is easy, robust, and fills the
real need in both research and society, and we have a system
that everyone can use.
Sponsor
National Science Foundation
Date Issued
2010
Extent
Resource Type
Text
Resource Subtype
Technical Report