Vision based Environment Mapping by Network Connected Multi-robotic System

M. Shuja Ahmed, Reza Saatchi, Fabio Caparrelli

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 proposed approach, the near by object boundaries can be mapped with higher accuracy comparatively the far lying objects.

References

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Paper Citation


in Harvard Style

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 - Volume 1: PECCS, ISBN 978-989-8565-43-3, pages 49-54. DOI: 10.5220/0004314600490054


in Bibtex Style

@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 - Volume 1: PECCS,},
year={2013},
pages={49-54},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004314600490054},
isbn={978-989-8565-43-3},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 3rd International Conference on Pervasive Embedded Computing and Communication Systems - Volume 1: PECCS,
TI - Vision based Environment Mapping by Network Connected Multi-robotic System
SN - 978-989-8565-43-3
AU - Ahmed M.
AU - Saatchi R.
AU - Caparrelli F.
PY - 2013
SP - 49
EP - 54
DO - 10.5220/0004314600490054