Robot Simultaneous Localization and Mapping Using Speeded-Up Robust Features
學年 101
學期 1
發表日期 2012-11-02
作品名稱 Robot Simultaneous Localization and Mapping Using Speeded-Up Robust Features
作品名稱（其他語言）
著者 Wang, Yin-tien; Chi, Chen-tung; Feng, Ying-chieh
作品所屬單位 淡江大學機械與機電工程學系
出版者
會議名稱 The Second International Conference on Engineering and Technology Innovation (ICETI2012)
會議地點 Kaohsiung, Taiwan
摘要 An algorithm for robot mapping is proposed in this paper using the method of speeded-up robust features (SURF). Since SURFs are scale- and orientation-invariant features, they have higher repeatability than that of the features obtained by other detection methods. Even in the cases of using moving camera, the SURF method can robustly extract the features from image sequences. Therefore, SURFs are suitable to be utilized as the map features in visual simultaneous localization and mapping (SLAM). In this article, the procedures of detection and matching of the SURF method are modified to improve the image processing speed and feature recognition rate. The sparse representation of SURF is also utilized to describe the environmental map in SLAM tasks. The purpose is to reduce the computation complexity in state estimation using extended Kalman filter (EKF). The EKF SLAM with SURF-based map is developed and implemented on a binocular vision system. The integrated system has been successfully validated to fulfill the basic capabilities of SLAM system.
關鍵字 Robot Mapping; Speeded-Up Robust Features (SURF); EKF-SLAM
語言 en_US
收錄於
會議性質
校內研討會地點
研討會時間 20121102~20121106
通訊作者 Wang, Yin-tien
國別 TWN
公開徵稿 Y
出版型式
出處
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機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/79060 )

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