TY - GEN
T1 - Embedded visual SLAM for navigation of an autonomous vehicle
AU - Moreno-Armend́ariz, Marco A.
AU - Duchanoy, Carlos A.
AU - Zanatta-Júarez, ́Angel A.G.
AU - Cruz-Villar, Carlos A.
PY - 2011
Y1 - 2011
N2 - An important objective of an autonomous vehicle is to navigate through an unknown environment. A method used to achieve this objective is to generate a map. A map provides the means to the vehicle to create paths between the visited places autonomously in order to perform a task. A particular problem is to obtain such a map when there is no initial knowledge of the surroundings or not even the initial position of the robot in the environment. The present paper shows a new design of a Visual SLAM processor that solves this problem and it is implemented on an FPGA. The processor is then tested on a differential traction mobile robot with a computer vision system that travels on a controlled unknown environment. The experimental results obtained show a good performance in real time.
AB - An important objective of an autonomous vehicle is to navigate through an unknown environment. A method used to achieve this objective is to generate a map. A map provides the means to the vehicle to create paths between the visited places autonomously in order to perform a task. A particular problem is to obtain such a map when there is no initial knowledge of the surroundings or not even the initial position of the robot in the environment. The present paper shows a new design of a Visual SLAM processor that solves this problem and it is implemented on an FPGA. The processor is then tested on a differential traction mobile robot with a computer vision system that travels on a controlled unknown environment. The experimental results obtained show a good performance in real time.
KW - Autonomous vehicle
KW - Embedded system
KW - Visual slam
UR - http://www.scopus.com/inward/record.url?scp=84856627725&partnerID=8YFLogxK
U2 - 10.2316/P.2011.752-074
DO - 10.2316/P.2011.752-074
M3 - Contribución a la conferencia
AN - SCOPUS:84856627725
SN - 9780889869035
T3 - Proceedings of the 2nd IASTED International Conference on Robotics, Robo 2011
SP - 211
EP - 218
BT - Proceedings of the 2nd IASTED International Conference on Robotics, Robo 2011
T2 - 2nd IASTED International Conference on Robotics, Robo 2011
Y2 - 7 November 2011 through 9 November 2011
ER -