| Image Feature Initialization for SLAM and Moving Object Detection | |
|---|---|
| 學年 | 98 |
| 學期 | 1 |
| 出版（發表）日期 | 2009-09-01 |
| 作品名稱 | Image Feature Initialization for SLAM and Moving Object Detection |
| 作品名稱（其他語言） | |
| 著者 | Wang, Yin-Tien; Ju, Rukg-Chi; Huang, Yu-Wen; Lin, Ming-Chun |
| 單位 | 淡江大學機械與機電工程學系 |
| 出版者 | Japan: ICIC International |
| 著錄名稱、卷期、頁數 | ICIC Express Letters 3(3)pt.A, pp.477-482 |
| 摘要 | For robot visual Simultaneous Localization and Mapping (vSLAM), the first task is to initialize the image features. We present an improved feature initialization algorithm for robot SLAM, including detection of image features, selection of good features, calculation of image depth, and update of feature locations. Meanwhile, we extend the usage of the feature initialization algorithm to mapping and detection of features on a moving object. Experimentation is performed with real platform and the results show that the performance of the proposed feature initialization algorithm is efficient for visual SLAM and moving object detection. |
| 關鍵字 | Image feature initialization;Speeded up robust features (SURF);Simnltaneons localization and mapping(SLAM);Moving object detection |
| 語言 | en |
| ISSN | 1881-803X |
| 期刊性質 | 國外 |
| 收錄於 | EI |
| 產學合作 | |
| 通訊作者 | Wang, Yin-Tien |
| 審稿制度 | |
| 國別 | JPN |
| 公開徵稿 | |
| 出版型式 | 紙本 |
| 相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/65320 ) |
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