Machine learning and geometric technique for SLAM

Abstract

This paper describes a new approach for building 3D geometric maps using a laser rangefinder, a stereo camera system and a mathematical system the Conformal Geometric Algebra. The use of a known visual landmarks in the map helps to carry out a good localization of the robot. A machine learning technique is used for recognition of objects in the environment. These landmarks are found using the Viola and Jones algorithm and are represented with their position in the 3D virtual map. © 2009 Springer-Verlag Berlin Heidelberg.