@inproceedings{dc2575749572412f8623395f59633ba6,
title = "Visual SLAM and Obstacle Avoidance in Real Time for Mobile Robots Navigation",
abstract = "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 for 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. On other hand, avoiding static and dynamic obstacles is required, so a novel artificial potential field method is presented. The new designs that solve both problems are implemented on an FPGA. The novel designs are then tested on differential traction mobile robots with a computer vision system that travel on a controlled unknown environment. The experimental results show good performance in real time.",
keywords = "Computer Vision, FPGA implementation, SLAM algorithm",
author = "Moreno-Armend{\'a}riz, {Marco A.} and Hiram Calvo",
note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 IEEE International Conference on Mechatronics, Electronics, and Automotive Engineering, ICMEAE 2014 ; Conference date: 18-11-2014 Through 21-11-2014",
year = "2014",
doi = "10.1109/ICMEAE.2014.12",
language = "Ingl{\'e}s",
series = "Proceedings - 2014 IEEE International Conference on Mechatronics, Electronics, and Automotive Engineering, ICMEAE 2014",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "44--49",
booktitle = "Proceedings - 2014 IEEE International Conference on Mechatronics, Electronics, and Automotive Engineering, ICMEAE 2014",
address = "Estados Unidos",
}