A framework for RF-Visual SLAM

Shahzad Anwar; Qingjie Zhao; Nouman Qadeer; Saqib Ishaq Khan

doi:10.1109/IBCAST.2013.6512139

A framework for RF-Visual SLAM

Shahzad Anwar
, Qingjie Zhao
, Nouman Qadeer
, Saqib Ishaq Khan

School of Computer Science and Technology

Beijing Institute of Technology
Centres of Excellence in Science and Applied Technologies (CESAT)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Citations (Scopus)

Abstract

Simultaneous Localization and Mapping, SLAM, is an important topic in the field of robotics and autonomous navigation. The metric SLAM suffers from sensor inaccuracies and thus cannot be used for long-term navigation. In such case, Visual SLAM or a Hybrid SLAM based on both metric and visual approach is a good alternative. In this paper, in order to speed up a Visual SLAM, we propose a novel concept of dynamic dictionary generated on the results of triangulation done on RF, radio frequency, signals from nearest cell towers of a cellular network. This dynamic dictionary efficiently manages the scalability of a Visual SLAM and make it possible to work in a large-scale environment. A framework is proposed along with triangulation data of a city and with simulations to support the concept.

Original language	English
Title of host publication	Proceedings of 2013 10th International Bhurban Conference on Applied Sciences and Technology, IBCAST 2013
Pages	103-108
Number of pages	6
DOIs	https://doi.org/10.1109/IBCAST.2013.6512139
Publication status	Published - 2013
Event	2013 10th International Bhurban Conference on Applied Sciences and Technology, IBCAST 2013 - Islamabad, Pakistan Duration: 15 Jan 2013 → 19 Jan 2013

Publication series

Name	Proceedings of 2013 10th International Bhurban Conference on Applied Sciences and Technology, IBCAST 2013

Conference

Conference	2013 10th International Bhurban Conference on Applied Sciences and Technology, IBCAST 2013
Country/Territory	Pakistan
City	Islamabad
Period	15/01/13 → 19/01/13

Access to Document

10.1109/IBCAST.2013.6512139

Cite this

Anwar, S., Zhao, Q., Qadeer, N., & Khan, S. I. (2013). A framework for RF-Visual SLAM. In Proceedings of 2013 10th International Bhurban Conference on Applied Sciences and Technology, IBCAST 2013 (pp. 103-108). Article 6512139 (Proceedings of 2013 10th International Bhurban Conference on Applied Sciences and Technology, IBCAST 2013). https://doi.org/10.1109/IBCAST.2013.6512139

@inproceedings{80917948c3c8498aadf93f39666f318f,

title = "A framework for RF-Visual SLAM",

abstract = "Simultaneous Localization and Mapping, SLAM, is an important topic in the field of robotics and autonomous navigation. The metric SLAM suffers from sensor inaccuracies and thus cannot be used for long-term navigation. In such case, Visual SLAM or a Hybrid SLAM based on both metric and visual approach is a good alternative. In this paper, in order to speed up a Visual SLAM, we propose a novel concept of dynamic dictionary generated on the results of triangulation done on RF, radio frequency, signals from nearest cell towers of a cellular network. This dynamic dictionary efficiently manages the scalability of a Visual SLAM and make it possible to work in a large-scale environment. A framework is proposed along with triangulation data of a city and with simulations to support the concept.",

author = "Shahzad Anwar and Qingjie Zhao and Nouman Qadeer and Khan, \{Saqib Ishaq\}",

year = "2013",

doi = "10.1109/IBCAST.2013.6512139",

language = "English",

isbn = "9781467344265",

series = "Proceedings of 2013 10th International Bhurban Conference on Applied Sciences and Technology, IBCAST 2013",

pages = "103--108",

booktitle = "Proceedings of 2013 10th International Bhurban Conference on Applied Sciences and Technology, IBCAST 2013",

note = "2013 10th International Bhurban Conference on Applied Sciences and Technology, IBCAST 2013 ; Conference date: 15-01-2013 Through 19-01-2013",

}

Anwar, S, Zhao, Q, Qadeer, N & Khan, SI 2013, A framework for RF-Visual SLAM. in Proceedings of 2013 10th International Bhurban Conference on Applied Sciences and Technology, IBCAST 2013., 6512139, Proceedings of 2013 10th International Bhurban Conference on Applied Sciences and Technology, IBCAST 2013, pp. 103-108, 2013 10th International Bhurban Conference on Applied Sciences and Technology, IBCAST 2013, Islamabad, Pakistan, 15/01/13. https://doi.org/10.1109/IBCAST.2013.6512139

A framework for RF-Visual SLAM. / Anwar, Shahzad; Zhao, Qingjie; Qadeer, Nouman et al.
Proceedings of 2013 10th International Bhurban Conference on Applied Sciences and Technology, IBCAST 2013. 2013. p. 103-108 6512139 (Proceedings of 2013 10th International Bhurban Conference on Applied Sciences and Technology, IBCAST 2013).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - A framework for RF-Visual SLAM

AU - Anwar, Shahzad

AU - Zhao, Qingjie

AU - Qadeer, Nouman

AU - Khan, Saqib Ishaq

PY - 2013

Y1 - 2013

N2 - Simultaneous Localization and Mapping, SLAM, is an important topic in the field of robotics and autonomous navigation. The metric SLAM suffers from sensor inaccuracies and thus cannot be used for long-term navigation. In such case, Visual SLAM or a Hybrid SLAM based on both metric and visual approach is a good alternative. In this paper, in order to speed up a Visual SLAM, we propose a novel concept of dynamic dictionary generated on the results of triangulation done on RF, radio frequency, signals from nearest cell towers of a cellular network. This dynamic dictionary efficiently manages the scalability of a Visual SLAM and make it possible to work in a large-scale environment. A framework is proposed along with triangulation data of a city and with simulations to support the concept.

AB - Simultaneous Localization and Mapping, SLAM, is an important topic in the field of robotics and autonomous navigation. The metric SLAM suffers from sensor inaccuracies and thus cannot be used for long-term navigation. In such case, Visual SLAM or a Hybrid SLAM based on both metric and visual approach is a good alternative. In this paper, in order to speed up a Visual SLAM, we propose a novel concept of dynamic dictionary generated on the results of triangulation done on RF, radio frequency, signals from nearest cell towers of a cellular network. This dynamic dictionary efficiently manages the scalability of a Visual SLAM and make it possible to work in a large-scale environment. A framework is proposed along with triangulation data of a city and with simulations to support the concept.

UR - https://www.scopus.com/pages/publications/84877948105

U2 - 10.1109/IBCAST.2013.6512139

DO - 10.1109/IBCAST.2013.6512139

M3 - Conference contribution

AN - SCOPUS:84877948105

SN - 9781467344265

T3 - Proceedings of 2013 10th International Bhurban Conference on Applied Sciences and Technology, IBCAST 2013

SP - 103

EP - 108

BT - Proceedings of 2013 10th International Bhurban Conference on Applied Sciences and Technology, IBCAST 2013

T2 - 2013 10th International Bhurban Conference on Applied Sciences and Technology, IBCAST 2013

Y2 - 15 January 2013 through 19 January 2013

ER -

A framework for RF-Visual SLAM

Abstract

Publication series

Conference

Access to Document

Other files and links

Fingerprint

Cite this