SLAM Configuration from Video Images for Remote Omni-direction Vehicle Platform

Abstract

This paper attempts to fully reconstruct a local mapping for robotic vehicle platforms, by use of 3D commercial camera. The reconstructed SLAM is verified by the global positioning of the surrounding with a-priori knowledge. While the whole omni-directional vehicle is designed and built in-house to maximize utility of all the signals available from the system. The mapping error for 2D for localization is estimated at 5% showing promise for this approach.