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In this paper, we propose a novel monocular SLAM method in corridor environment which employs Segments-on-Floor (SoF) as feature data. Given that the height of the camera and the angle between the camera and the floor are known, an image of the SoF can be efficiently distinguished from the other space-lines by a simple data-association method, deriving the line correspondence from a simplified homography...
Propose an algorithm to detect road area in front of the robot based on 2.5D range image to satisfy the robot to find passable road lies 20-80 m in front of it. The algorithm builds a 2.5D range image by calibrating ladar and camera. Then, it clusters points in single ladar frame using KNN. Geometrical and color information were used to segment the range image and then road area was abstracted. The...
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