Vision based SLAM for humanoid robots: A survey

Walaa Gouda, Walid Gomaa, Tetsuji Ogawa

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    6 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 languageEnglish
    Title of host publicationProceedings of the 2013 2nd International Japan-Egypt Conference on Electronics, Communications and Computers, JEC-ECC 2013
    PublisherIEEE Computer Society
    Pages170-175
    Number of pages6
    DOIs
    Publication statusPublished - 2013
    Event2013 2nd International Japan-Egypt Conference on Electronics, Communications and Computers, JEC-ECC 2013 - Cairo
    Duration: 2013 Dec 172013 Dec 19

    Other

    Other2013 2nd International Japan-Egypt Conference on Electronics, Communications and Computers, JEC-ECC 2013
    CityCairo
    Period13/12/1713/12/19

    Fingerprint

    Robots
    Feature extraction
    Cost effectiveness
    Imaging systems
    Sensors

    Keywords

    • feature extraction
    • landmarks
    • SLAM
    • VSLAM

    ASJC Scopus subject areas

    • Computer Networks and Communications
    • Electrical and Electronic Engineering

    Cite this

    Gouda, W., Gomaa, W., & Ogawa, T. (2013). Vision based SLAM for humanoid robots: A survey. In Proceedings of the 2013 2nd International Japan-Egypt Conference on Electronics, Communications and Computers, JEC-ECC 2013 (pp. 170-175). [6766407] IEEE Computer Society. https://doi.org/10.1109/JEC-ECC.2013.6766407

    Vision based SLAM for humanoid robots : A survey. / Gouda, Walaa; Gomaa, Walid; Ogawa, Tetsuji.

    Proceedings of the 2013 2nd International Japan-Egypt Conference on Electronics, Communications and Computers, JEC-ECC 2013. IEEE Computer Society, 2013. p. 170-175 6766407.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Gouda, W, Gomaa, W & Ogawa, T 2013, Vision based SLAM for humanoid robots: A survey. in Proceedings of the 2013 2nd International Japan-Egypt Conference on Electronics, Communications and Computers, JEC-ECC 2013., 6766407, IEEE Computer Society, pp. 170-175, 2013 2nd International Japan-Egypt Conference on Electronics, Communications and Computers, JEC-ECC 2013, Cairo, 13/12/17. https://doi.org/10.1109/JEC-ECC.2013.6766407
    Gouda W, Gomaa W, Ogawa T. Vision based SLAM for humanoid robots: A survey. In Proceedings of the 2013 2nd International Japan-Egypt Conference on Electronics, Communications and Computers, JEC-ECC 2013. IEEE Computer Society. 2013. p. 170-175. 6766407 https://doi.org/10.1109/JEC-ECC.2013.6766407
    Gouda, Walaa ; Gomaa, Walid ; Ogawa, Tetsuji. / Vision based SLAM for humanoid robots : A survey. Proceedings of the 2013 2nd International Japan-Egypt Conference on Electronics, Communications and Computers, JEC-ECC 2013. IEEE Computer Society, 2013. pp. 170-175
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