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 |
|---|---|
| Title of host publication | Proceedings of the 2013 2nd International Japan-Egypt Conference on Electronics, Communications and Computers, JEC-ECC 2013 |
| Publisher | IEEE Computer Society |
| Pages | 170-175 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2013 |
| Event | 2013 2nd International Japan-Egypt Conference on Electronics, Communications and Computers, JEC-ECC 2013 - Cairo Duration: 2013 Dec 17 → 2013 Dec 19 |
Other
| Other | 2013 2nd International Japan-Egypt Conference on Electronics, Communications and Computers, JEC-ECC 2013 |
|---|---|
| City | Cairo |
| Period | 13/12/17 → 13/12/19 |
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Keywords
- feature extraction
- landmarks
- SLAM
- VSLAM
ASJC Scopus subject areas
- Computer Networks and Communications
- Electrical and Electronic Engineering
Cite this
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 proceeding › Conference contribution
}
TY - GEN
T1 - Vision based SLAM for humanoid robots
T2 - A survey
AU - Gouda, Walaa
AU - Gomaa, Walid
AU - Ogawa, Tetsuji
PY - 2013
Y1 - 2013
N2 - 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.
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.
KW - feature extraction
KW - landmarks
KW - SLAM
KW - VSLAM
UR - http://www.scopus.com/inward/record.url?scp=84898962765&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84898962765&partnerID=8YFLogxK
U2 - 10.1109/JEC-ECC.2013.6766407
DO - 10.1109/JEC-ECC.2013.6766407
M3 - Conference contribution
SP - 170
EP - 175
BT - Proceedings of the 2013 2nd International Japan-Egypt Conference on Electronics, Communications and Computers, JEC-ECC 2013
PB - IEEE Computer Society
ER -