
Embedded Robotics
A Hardware Architecture for Simultaneous Localization and Mapping of Mobile Robots
LAP Lambert Academic Publishing
Published on 28. September 2011
Book
Paperback/Softback
140 pages
978-3-8465-0816-9 (ISBN)
Description
This book presents a hardware architecture for the Simultaneous Localization And Mapping (SLAM) problem applied to embedded robots. The architecture is composed by highly specialized modules for robot localization and feature-based map building from images obtained directly from CMOS cameras in real time. The system is completely embedded on a Field-Programmable Gate Array (FPGA) device, where several hardware-orientated optimizations are exploited. The main modules of the architecture are the Extended Kalman Filter (EKF) and the feature detection system based on the SIFT (Scale Invariant Feature Transform) algorithm. Additionally, this book also presents basic concepts about mapping and state-of-the-art algorithms for SLAM with monocular and stereo vision.
More details
Language
English
Place of publication
Germany
Product notice
Paperback (trade)
Unsewn / adhesive bound
Dimensions
Height: 220 mm
Width: 150 mm
Thickness: 9 mm
Weight
227 gr
ISBN-13
978-3-8465-0816-9 (9783846508169)
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Schweitzer Classification
Persons
Dr. Vanderlei Bonato is lecturer at the Institute of Mathematical and Computing Sciences, The University of São Paulo, Brazil. His areas of interest are the modelling and development of customized hardware architectures for embedded systems based on FPGAs.