A new approach to map joining for depth-augmented visual SLAM

Chien Hung Liu, Kai-Tai Song

研究成果: Conference contribution同行評審

2 引文 斯高帕斯(Scopus)

摘要

In this paper, a novel scheme is proposed to improve real-time performance of simultaneous localization and mapping (SLAM) of a mobile robot based on depth-augmented visual features. In this design, the robot has two stages in navigation applications, namely the map building stage and the map usage stage. In the map-building stage, a local map is built to join into the global map. For the map-usage stage, instead of using the global map, the local maps facilitate real-time path tracking control of the robot. Using of local maps has the merit of reducing the computational complexity of EKF-SLAM. In the map joining procedure, deviations of adjacent local maps are corrected based on local features. Loop closure detection is used to determine whether the local map building is completed. A Kinect sensor is adopted to realize the proposed method. Navigation experiments on a wheeled mobile robot show that the motion error of robot localization is within 0.1m for a travel over 83m.

原文English
主出版物標題2013 9th Asian Control Conference, ASCC 2013
DOIs
出版狀態Published - 31 十月 2013
事件2013 9th Asian Control Conference, ASCC 2013 - Istanbul, Turkey
持續時間: 23 六月 201326 六月 2013

出版系列

名字2013 9th Asian Control Conference, ASCC 2013

Conference

Conference2013 9th Asian Control Conference, ASCC 2013
國家/地區Turkey
城市Istanbul
期間23/06/1326/06/13

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