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Authors: M. Shuja Ahmed ; Reza Saatchi and Fabio Caparrelli

Affiliation: Sheffield Hallam University, United Kingdom

Keyword(s): Environment Mapping, Object Detection, Computer Vision.

Related Ontology Subjects/Areas/Topics: Distributed Intelligent Agents ; Mobile and Pervasive Computing ; Mobile Computing ; Pervasive Embedded Networks ; Telecommunications

Abstract: The conventional environment mapping solutions are computationally very expensive and cannot effectively be used in multi-robotic environment, where small size robots with limited memory and processing resources are used. This study provides an environment mapping solution in which a group of small size robots extract simple distance vector features from the on-board camera images. The robots share these features between them using a wireless communication network setup in infrastructure mode. For mapping the distance vector features on a global map and to show a collective map building operation, the robots needed their accurate location and heading information. The robots location and heading information is computed using two ceiling mounted cameras, which collective localises the robots. Experimental results show that the proposed method provides the required environmental map which can facilitate the robot navigation operation in the environment. It was observed that, using the p roposed approach, the near by object boundaries can be mapped with higher accuracy comparatively the far lying objects. (More)

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Paper citation in several formats:
Ahmed, M.; Saatchi, R. and Caparrelli, F. (2013). Vision based Environment Mapping by Network Connected Multi-robotic System. In Proceedings of the 3rd International Conference on Pervasive Embedded Computing and Communication Systems - PECCS; ISBN 978-989-8565-43-3; ISSN 2184-2817, SciTePress, pages 49-54. DOI: 10.5220/0004314600490054

@conference{peccs13,
author={M. Shuja Ahmed. and Reza Saatchi. and Fabio Caparrelli.},
title={Vision based Environment Mapping by Network Connected Multi-robotic System},
booktitle={Proceedings of the 3rd International Conference on Pervasive Embedded Computing and Communication Systems - PECCS},
year={2013},
pages={49-54},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004314600490054},
isbn={978-989-8565-43-3},
issn={2184-2817},
}

TY - CONF

JO - Proceedings of the 3rd International Conference on Pervasive Embedded Computing and Communication Systems - PECCS
TI - Vision based Environment Mapping by Network Connected Multi-robotic System
SN - 978-989-8565-43-3
IS - 2184-2817
AU - Ahmed, M.
AU - Saatchi, R.
AU - Caparrelli, F.
PY - 2013
SP - 49
EP - 54
DO - 10.5220/0004314600490054
PB - SciTePress

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