[Show abstract][Hide abstract] ABSTRACT: This paper describes an efficient hybrid laser/vision appearance-based approach to provide a mobile robot with rich 3D information about its environment. By combining the information from an omnidirectional camera and a laser range finder, reliable 3D positioning and an accurate 3D representation of the environment is obtained subject to illumination changes even in the presence of occluding and moving objects. A scan matching technique is used to initialize the tracking algorithm in order to ensure rapid convergence and reduce computational cost. The proposed method is validated in an indoor environment using data taken from a mobile robot equipped with a 2D laser range finder and an omnidirectional camera.
[Show abstract][Hide abstract] ABSTRACT: Vision sensors give mobile robots a relatively cheap means of obtaining rich 3D information of their environment, but lack the depth information that a laser range finder can provide. This paper describes a novel composite sensor approach that combines the information given by an omnidirectional camera and a laser range finder to efficiently solve the indoor Simultaneous Localization and Mapping problem and reconstruct a 3D representation of the environment. We report the results of validating our methodology using a mobile robot equipped with a 2D laser range finder and an omnidirectional camera.