A Vision System for a Cognitive Robot: Combination of Monocular Slam and Measurable Movement-Control

K. Zhou, M. Zillich, and M. Vincze (Austria)

Keywords

Cognitive robot, Monocular SLAM, measurable movementcontrol for mobile robot, and 3D spatial point reconstruction.

Abstract

One essential capability of an intelligent cognitive robot is detecting objects in a scene and capturing their details based on vision. In our project, the visual SLAM (simultaneous localization and mapping) with a single camera is applied to acquire sparse landmarks for a large scale map. As we adopt the monocular SLAM with a single camera, the measurable movement-control of the mobile robot is combined, which also enhances the accuracy and the robustness of the cognition process and helps with seizing the details of some small objects.

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