Data Association of Aerial Robot Monocular Simultaneous Localization and Mapping
學年 105
學期 1
出版（發表）日期 2016-09-22
作品名稱 Data Association of Aerial Robot Monocular Simultaneous Localization and Mapping
作品名稱（其他語言）
著者 Yin-Tien Wang; Chung-Hsun Sun; Ting-Wei Chen; Chen-Tung Chi
單位
出版者
著錄名稱、卷期、頁數 Sensors and Materials 28(9), p.1013-1021
摘要 This paper presents an algorithm for data association for the visual navigation of aerial robots.The major objective is to provide the aerial robot with the capabilities of localization and mappingin global positioning system (GPS) denied environments. The visual sensor system could measureinformation for robot state estimation and environmental mapping as the aerial robot navigates in aGPS-denied environment. Only one single camera was used to reduce the load on the aerial robot.The captured image was transmitted to a personal computer for image processing using a radiofrequency transmitter. In this study, an efficient data association method based on fuzzy rules wasdeveloped to determine the robust landmarks for robot mapping. An ultrasonic sensor was designedto provide distance measurements and to solve the map scale determination problem of monocularvision. The software program of the robot navigation system was developed on a windows-basedpersonal computer. The navigation system integrated the visual sensor, the algorithm for dataassociation, and the state estimator. The integrated system was used to carry out simultaneouslocalization and mapping for aerial robots.
關鍵字 visual simultaneous localization and mapping (vSLAM);image depth parameterization;data association;map management
語言 en
ISSN 0914-4935
期刊性質 國外
收錄於 SCI EI
產學合作
通訊作者 王銀添;Yin-Tien Wang
審稿制度 是
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/987654321/108538 )