Vision based SLAM for humanoid robots: A survey

Walaa Gouda, Walid Gomaa, Tetsuji Ogawa

Research output: Contribution to conferencePaper

8 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
Pages170-175
Number of pages6
DOIs
Publication statusPublished - 2013 Jan 1
Event2013 2nd International Japan-Egypt Conference on Electronics, Communications and Computers, JEC-ECC 2013 - Cairo, Egypt
Duration: 2013 Dec 172013 Dec 19

Conference

Conference2013 2nd International Japan-Egypt Conference on Electronics, Communications and Computers, JEC-ECC 2013
CountryEgypt
CityCairo
Period13/12/1713/12/19

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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. 170-175. Paper presented at 2013 2nd International Japan-Egypt Conference on Electronics, Communications and Computers, JEC-ECC 2013, Cairo, Egypt. https://doi.org/10.1109/JEC-ECC.2013.6766407