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

標題:Improving Data Association in Robot SLAM with Monocular Vision
學年100
學期1
出版(發表)日期2011/11/01
作品名稱Improving Data Association in Robot SLAM with Monocular Vision
作品名稱(其他語言)
著者Wang, Yin-Tien; Hung, Duan-Yan; Sun, Chung-Hsun
單位淡江大學機械與機電工程學系
出版者臺北市中央研究院資訊科學研究所
著錄名稱、卷期、頁數Journal of Information Science and Engineering 27(6), pp.1823-1837
摘要In the paper, an algorithm is proposed for improving the data association in robot visual Simultaneous Localization and Mapping (SLAM). The detection of speeded-up robust feature (SURF) is employed in the algorithm to provide a robust description for image features as well as a better representation of landmarks in the map of a visual SLAM system. Meanwhile, a likelihood-based tracking window and a nearest-neighbor (NN) method are utilized to match the high-dimensional data sets created for SURF. Experiments are carried out on a hand-held camera to verify the performances of the proposed algorithm for dealing with the data association problem in robot visual SLAM. The results show that the integration of the SURF features, the tracking window and the NN method is efficient in reducing the computational time and increasing the rate of successful feature matching.
關鍵字data association;likelihood function;nearest-neighbor (NN) method;speeded up robust features (SURF);simultaneous localization and mapping (SLAM);monocular vision
語言英文
ISSN1016-2364
期刊性質國內
收錄於SCI;
產學合作
通訊作者Wang, Yin-Tien
審稿制度
國別中華民國
公開徵稿
出版型式,電子版,紙本
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