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 en
ISSN 1016-2364
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 TWN
公開徵稿
出版型式 ,電子版,紙本
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