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A vertical and floor line-based monocular SLAM system for corridor environments

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  • Robotics and Automation
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Abstract

In this paper, we propose a vertical and floor line-based monocular simultaneous localization and mapping (SLAM) system which utilizes vertical lines, floor lines, and vanishing points as sensory input to perform robust SLAM in corridor environments. By combining three map feature types, our design can help a robot to perform accurate pose estimation, repeatable loop closure, and to construct a more expressive environmental map. As a primitive element of a geometric structure, a line segment has one additional dimension compared to a point feature, thereby allowing the use of line segments to easily represent a geometric structure using a smaller number of features. This system presents map features on a 2D ground space: the vertical line as a projection point, the floor line as the original line, and the vanishing point as a directional vector. Although the vertical line, floor line, and vanishing point use different parameterization and initialization methods, their measurement models are integrated into a unified extended Kalman filter (EKF) framework. Experimental results show that our system can be deployed in a structured indoor environment as a suitable SLAM solution.

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Correspondence to Il Hong Suh.

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Recommended by Editorial Board member Jang Myung Lee under the direction of Editor Hyouk Ryeol Choi.

This work was supported by the Global Frontier R&D Program on 〈Human-centered Interaction for Coexistence〉 funded by the National Research Foundation of Korea grant funded by the Korean Government (MEST) (NRF-M1AXA003-2011-0028353).

Guoxuan Zhang received his B.S degree in automotive engineering from Chang’an University, Xi’an, China, in 1993 and his M.S. degree in Information Processing Engineering from Hanyang University, Seoul, Korea, in 2003. Currently, he is a Ph.D. student in the Department of Electronics and Computer Engineering at Hanyang University. His research interests include robot vision, SLAM, and machine learning.

Il Hong Suh received his B.S. degree in Electronics Engineering from Seoul National University, Seoul, Korea, and his M.S. and Ph.D. degrees in Electrical Engineering from the Korea Institute of Science and Technology (KAIST), Seoul, respectively. He is a full professor at Department of Computer Science and Engineering, College of Engineering, Hanyang University, Seoul, Korea. In 2009, he has founded a National Robotics-Specialized Education Consortium (RoSEC), and is now serving as leader of RoSEC to foster professionals for intelligent robot industry. Dr. Suh has been involved in a number of Korea National Projects such as Intelligent Robotics Frontier Research Program for 21st Century under support of Ministry of Knowledge and Economy, and Development of a biology-inspired learning architecture and task skill learning technology under the support of CHIC (Center of Human centered interaction for coexistence) by Korea ministry of Education, Science and Technology. His research interests lie in the area of intelligence and control for robots including semantic robot intelligence, action-coupled perception and learning, skill acquisition, and software platform for cognition and control. He has published more than 170 contributions in robotics, intelligence and control. Dr. Suh was awarded Korea Prime Minister medal for contributions and leadership in fostering Robotics R/D personnel for Korea Robotics Industries, and for contributions to developing Robotics fundamental technologies in 2011. And, he was awarded as one of main contributors for development of Industrial robot controller (NOVA 10) which was selected by MKE(Ministry of Knowledge Economy) and NAEK(National Academy of Engineers, Korea) as one of 1980’s key industrial electronics technologies among Top 100 the most influential Korean Industrial Technologies from 1950 to 2010. He was President of Korea Robotics Society for 2008. And, he has served as Editor-in-chief for Journal of Intelligent Service Robotics, Springer since 2010, and has served as an associate Editor for IEEE Transactions on Robotics since 2010. He has been appointed as a General Chair for 2016 IEEE/RSJ IROS which is one of annual big prestigious robotics conference together with IEEE ICRA.

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Zhang, G., Suh, I.H. A vertical and floor line-based monocular SLAM system for corridor environments. Int. J. Control Autom. Syst. 10, 547–557 (2012). https://doi.org/10.1007/s12555-012-0311-y

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