Robot Visual SLAM in Dynamic Environments
學年 100
學期 1
發表日期 2011-11-11
作品名稱 Robot Visual SLAM in Dynamic Environments
作品名稱（其他語言）
著者 王銀添; Wang, Yin-tien; Chi, Chen-tung; Hung, Shiun-kai
作品所屬單位 淡江大學機械與機電工程學系
出版者 Taiwan Association of Engineering and Technology Innovation
會議名稱
會議地點
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 en
收錄於
會議性質 國際
校內研討會地點
研討會時間 20111111~20111113
通訊作者
國別
公開徵稿
出版型式
出處 International Conference on Engineering and Technology Innovation 2011 (ICETI2011), Kenting, Taiwan
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