Bilkent University
Department of Computer Engineering


Vision SLAM using Trees as Landmarks


Bilal Turan
MSc. Student
Computer Engineering Department
Bilkent University

In many robotics applications, knowing the pose of the robot and the map of the environment is crucial. But most of the time autonomous robots have to function in areas where there is no available map of the environment. In these cases constructing the map using available sensor data and be able to locate itself in constructed map is vital for robot.

A map constructed autonomously by a robot depends on the employed sensor type. Map is constructed by landmarks which can be continuously seen by sensors and also intelligible by robot. According to landmarks map differs greatly, therefore choosing landmarks are also important. If robot uses landmarks which are understandable by a person and if that landmarks can be found in nature then the map we get in the end is meaningful for a person as well.

In this study, we select trees as natural landmarks and in an environment where trees are available we try to generate the map from scratch and locate robot within it continuously.


DATE: 18 April, 2011, Monday @ 16:15