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 en
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 CHN
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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