教師資料查詢 | 類別: 會議論文 | 教師: 王銀添 Wang Yin-tien (瀏覽個人網頁)

標題:Detection and Tracking of Moving Objects in SLAM using Vision Sensors
學年99
學期2
發表日期2011/05/10
作品名稱Detection and Tracking of Moving Objects in SLAM using Vision Sensors
作品名稱(其他語言)
著者Wang, Yin-tien; Feng, Ying-chieh; Hung, Duen-yan
作品所屬單位淡江大學機械與機電工程學系
出版者IEEE
會議名稱Instrumentation and Measurement Technology Conference (I2MTC), 2011 IEEE
會議地點Binjiang, China
摘要This paper presents algorithms for improving the detection of moving objects in robot visual simultaneous localization and mapping (SLAM). The method of speeded-up robust feature (SURF) is employed in the algorithm to provide a robust detection for image features as well as a better description of landmarks in the map of a visual SLAM system. Meanwhile, a moving object detection (MOD) is designed based on the correspondence constraint of the essential matrix for the feature points on image plane. Experiments are carried out on a hand-held camera sensor to verify the performances of the proposed algorithms. The results show that the integration of SURF and MOD is efficient to improve the robustness of robot SLAM.
關鍵字Simultaneous Localization and Mapping;SLAM;Speeded Up Robust Features;SURF;Moving Object Detection;MOD;Vision Sensor
語言英文
收錄於
會議性質國際
校內研討會地點
研討會時間20110510~20110512
通訊作者
國別中國
公開徵稿Y
出版型式
出處Instrumentation and Measurement Technology Conference (I2MTC), 2011 IEEE, pp.1-5
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