Vision based SLAM for humanoid robots: A survey

Walaa Gouda; Walid Gomaa; Tetsuji Ogawa

doi:10.1109/JEC-ECC.2013.6766407

Vision based SLAM for humanoid robots: A survey

Walaa Gouda, Walid Gomaa, Tetsuji Ogawa

School of Fundamental Science and Engineering

Research output: Contribution to conference › Paper › peer-review

10 Citations (Scopus)

Abstract

This paper is a survey work for designing a Vision based Simultaneous Localization and Mapping (VSLAM) humanoid robot to generate a map of an unknown environment. A lot of factors have to be considered while designing a VSLAM robot. Vision Sensors are very attractive for application in SLAM because of their rich sensory output and cost effectiveness. Different issues are involved in the problem of vision based SLAM and many different approaches exist in order to solve these issues. Similarly the type of environment determines the suitable feature extraction method. The main objective of this survey is to conduct a comparative study among the current vision sensing methods in terms of imaging systems used for performing VSLAM, feature extraction algorithms used in some recently published papers, and initialization of landmarks, and to figure out the best for our work.

Original language	English
Pages	170-175
Number of pages	6
DOIs	https://doi.org/10.1109/JEC-ECC.2013.6766407
Publication status	Published - 2013
Event	2013 2nd International Japan-Egypt Conference on Electronics, Communications and Computers, JEC-ECC 2013 - Cairo, Egypt Duration: 2013 Dec 17 → 2013 Dec 19

Conference

Conference	2013 2nd International Japan-Egypt Conference on Electronics, Communications and Computers, JEC-ECC 2013
Country/Territory	Egypt
City	Cairo
Period	13/12/17 → 13/12/19

Keywords

SLAM
VSLAM
feature extraction
landmarks

ASJC Scopus subject areas

Computer Networks and Communications
Electrical and Electronic Engineering

Access to Document

10.1109/JEC-ECC.2013.6766407

Cite this

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AU - Gomaa, Walid

AU - Ogawa, Tetsuji

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AB - This paper is a survey work for designing a Vision based Simultaneous Localization and Mapping (VSLAM) humanoid robot to generate a map of an unknown environment. A lot of factors have to be considered while designing a VSLAM robot. Vision Sensors are very attractive for application in SLAM because of their rich sensory output and cost effectiveness. Different issues are involved in the problem of vision based SLAM and many different approaches exist in order to solve these issues. Similarly the type of environment determines the suitable feature extraction method. The main objective of this survey is to conduct a comparative study among the current vision sensing methods in terms of imaging systems used for performing VSLAM, feature extraction algorithms used in some recently published papers, and initialization of landmarks, and to figure out the best for our work.

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KW - landmarks

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Vision based SLAM for humanoid robots: A survey

Abstract

Conference

Keywords

ASJC Scopus subject areas

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