會議論文
| 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 |
| 相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/58125 ) |