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:Robot Visual Simultaneous Localization and Mapping in Dynamic Environments
學年100
學期2
出版(發表)日期2012/04/15
作品名稱Robot Visual Simultaneous Localization and Mapping in Dynamic Environments
作品名稱(其他語言)
著者Wang, Yin-Tien; Chi, Chen-Tung; Hung, Shiun-Kai
單位淡江大學機械與機電工程學系
出版者Valencia: American Scientific Publishers
著錄名稱、卷期、頁數Advanced Science Letters 8, pp.229-234
摘要This paper focuses on the problem of moving object detection (MOD) in robot visual simultaneous localization and mapping (vSLAM) system. A MOD algorithm is designed using the spatial geometric constraint of the stationary landmarks in the environment. Based on the MOD algorithm, the moving objects can be discriminated from the stationary landmarks. The proposed MOD algorithm is independent of the state estimator and capable of dealing with the kidnapping problem in SLAM automatically. Meanwhile, 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. Experiments are carried out on hand-held camera sensors to verify the performances of the proposed algorithms for SLAM tasks in the indoor environments. The results show that the integration of MOD and SURF is efficient to improve the robustness of robot SLAM system.
關鍵字Visual Simultaneous Localization; and Mapping (vSLAM); Speeded-Up Robust Features; SURF; Moving Object Detection; MOD
語言英文
ISSN1936-6612;1936-7317
期刊性質國外
收錄於
產學合作
通訊作者
審稿制度
國別美國
公開徵稿
出版型式電子版;紙本;
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