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- W2123641726 abstract "This paper presents a ground view-based Simultaneous Localization and Mapping (SLAM) using a commercial web camera to construct a feature map of an unstructured indoor environment. A camera attached to a robot looks downward to exploit several advantages; being insensitive to lighting conditions; limiting visible region to be undisturbed by moving objects; extracting vertical edge features easily. In order to make full use of characteristics of indoor environment, we choose to extract a salient vertical edge feature. Feature parameters including uncertainty are estimated by a random sample consensus technique using the fact that all vertical edge features intersect at a fixed vanishing point. Through successive tracking of extracted feature, its initial location is determined by a non-linear least squares method. Experiment in a small-scale but highly unstructured environment shows a good SLAM performance under Extended Kalman Filtering algorithm that runs in real-time." @default.
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- W2123641726 date "2011-08-01" @default.
- W2123641726 modified "2023-09-26" @default.
- W2123641726 title "Ground view-based SLAM using a commercial web camera in unstructured indoor environments" @default.
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- W2123641726 doi "https://doi.org/10.1109/icma.2011.5985795" @default.
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