Abstract:
The ability to localize is amongst the most important traits of any mobile
robot. In outdoor environment, GPS is usually used for localization, but to
correctly localize in indoor environments, is a challenging task for a mobile
robot. Stereo camera provides the depth information of the near environ-
ment. This depth information is used to provide ego-motion without using
any other sensory information. The odometry computed from intra-frame
motion is fed to Sigma Point Kalman Filter (SPKF) to provide a better
estimate of robots position and velocity. The proposed algorithm is imple-
mented on robotic wheelchair developed in RISE Lab to provide real-time
visual odometry of wheelchair, which is further used by Laser based GMap-
ping algorithm to generate wheelchair's environment map.
