We have developed software that allows a micro-robot to localize itself at a 1Hz rate using only onboard hardware. The
Surveyor SRV-1 robot and its Blackfin processors were used to perform FAST feature detection on images. Good
features selected from these images were then described using the SURF descriptor algorithm. An onboard Gumstix then
correlated the features reported by the two processors and used GTSAM to develop an estimate of robot localization and
landmark positions. Localization errors in this system were on the same order of magnitude as the size of the robot itself,
giving the robot the potential to autonomously operate in a real-world environment.
Access to the requested content is limited to institutions that have purchased or subscribe to SPIE eBooks.
You are receiving this notice because your organization may not have SPIE eBooks access.*
*Shibboleth/Open Athens users─please
sign in
to access your institution's subscriptions.
To obtain this item, you may purchase the complete book in print or electronic format on
SPIE.org.
INSTITUTIONAL Select your institution to access the SPIE Digital Library.
PERSONAL Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.