Stereo vision based SLAM using Rao-Blackwellised particle filter
文献类型：期刊论文
| 作者 | Wu, Er-Yong1; Li, Gong-Yan2; Xiang, Zhi-Yu1; Liu, Ji-Lin1 |
| 刊名 | JOURNAL OF ZHEJIANG UNIVERSITY-SCIENCE A
 |
| 出版日期 | 2008-04-01 |
| 卷号 | 9期号:4页码:500-509 |
| 关键词 | robot vision based SLAM SIFT feature management |
| 英文摘要 | We present an algorithm which can realize 3D stereo vision simultaneous localization and mapping (SLAM) for mobile robot in unknown outdoor environments, which means the 6-DOF motion and a sparse but persistent map of natural landmarks be constructed online only with a stereo camera. In mobile robotics research, we extend FastSLAM 2.0 like stereo vision SLAM with "pure vision" domain to outdoor environments. Unlike popular stochastic motion model used in conventional monocular vision SLAM, we utilize the ideas of structure from motion (SFM) for initial motion estimation, which is more suitable for the robot moving in-large-scale outdoor, and textured environments. SIFT features are used as natural landmarks, and its 3D positions are constructed directly through triangulation. Considering the computational complexity and memory consumption, Bkd-tree and Best-Bin-First (BBF) search strategy are utilized for SIFT feature descriptor matching. Results show high accuracy of our algorithm, even in the circumstance of large translation and large rotation movements. |
| WOS标题词 | Science & Technology ; Technology ; Physical Sciences |
| 类目[WOS] | Engineering, Multidisciplinary ; Multidisciplinary Sciences ; Physics, Applied |
| 研究领域[WOS] | Engineering ; Science & Technology - Other Topics ; Physics |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000254998000008 |
| 公开日期 | 2015-12-24 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/9512]  |
| 专题 | 自动化研究所_09年以前成果 |
| 作者单位 | 1.Zhejiang Univ, Dept Informat Sci & Elect Engn, Hangzhou 310027, Peoples R China 2.Chinese Acad Sci, Inst Automat, Natl Lab Pattern Recognit, Beijing 100080, Peoples R China |
| 推荐引用方式 GB/T 7714 | Wu, Er-Yong,Li, Gong-Yan,Xiang, Zhi-Yu,et al. Stereo vision based SLAM using Rao-Blackwellised particle filter[J]. JOURNAL OF ZHEJIANG UNIVERSITY-SCIENCE A,2008,9(4):500-509. |
| APA | Wu, Er-Yong,Li, Gong-Yan,Xiang, Zhi-Yu,&Liu, Ji-Lin.(2008).Stereo vision based SLAM using Rao-Blackwellised particle filter.JOURNAL OF ZHEJIANG UNIVERSITY-SCIENCE A,9(4),500-509. |
| MLA | Wu, Er-Yong,et al."Stereo vision based SLAM using Rao-Blackwellised particle filter".JOURNAL OF ZHEJIANG UNIVERSITY-SCIENCE A 9.4(2008):500-509. |
入库方式： OAI收割
来源：自动化研究所
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