An Efficient Ceiling-view SLAM Using Relational Constraints Between Landmarks

Hyukdoo Choi，Ryunseok Kim，Euntai Kim
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Abstract – In this paper, we present a new indoor ‘simultaneous localization and mapping’ (SLAM) technique based on an upward-looking ceiling camera. Adapted from our previous work, the proposed method employs sparsely-distributed line and point landmarks in an indoor environment to aid with data association and reduce extended Kalman filter computation as compared with earlier techniques. Further, the proposed method exploits geometric relationships between the two types of landmarks to provide added information about the environment. This geometric information is measured with an upward-looking ceiling camera and is used as a constraint in Kalman filtering. The performance of the proposed ceiling-view (CV) SLAM is demonstrated through simulations and experiments. The proposed method performs localization and mapping more accurately than those methods that use the two types of landmarks without taking into account their relative geometries.