Building an Autonomous Indoor Visual SLAM System using an iRobot - - PowerPoint PPT Presentation

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Building an Autonomous Indoor Visual SLAM System using an iRobot - - PowerPoint PPT Presentation

Mar 16, 2024 377 likes •504 views

Building an Autonomous Indoor Visual SLAM System using an iRobot and Kinect Chase Lewis Mentor: Xin Li, Kang Zhang Kinect and iRobot System Simultaneous Localization and Mapping Creating a 3d map while tracking the location of the robot

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Building an Autonomous Indoor Visual SLAM System using an iRobot and Kinect

Chase Lewis Mentor: Xin Li, Kang Zhang

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Kinect and iRobot System

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S.L.A.M

– Simultaneous Localization and Mapping

– Creating a 3d map while tracking the location of the robot in said map – Algorithms and image processing techniques

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Point Cloud Conversion

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Feature Detection

– Algorithms

– Speeded Up Robust Feature (SURF) – Random Sample Consensus (RANSAC)

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Stitching

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Self-Driving Cars

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Remote Exploration

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Questions?

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Acknowledgements

– This material is based upon work supported by the National Science Foundation under award OCI-1560410 with additional support from the Center for Computation & Technology at Louisiana State University.

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References

– OpenCV: http://opencv.org/ – Kinect Image Library: http://vision.in.tum.de/ – Feature Detection Support: http://pyimagesearch.com/