Vision-Based Semantic Unscented FastSLAM for Indoor Service Robot
文献类型：期刊论文
| 作者 | Zhu, Xiaorui; Deng, Fucheng; Ou, Yongsheng; Liu, Letian; Wang, Ermeng |
| 刊名 | MATHEMATICAL PROBLEMS IN ENGINEERING
 |
| 出版日期 | 2015 |
| 英文摘要 | This paper proposes a vision-based Semantic Unscented FastSLAM (UFastSLAM) algorithm for mobile service robot combining the semanticrelationship and the Unscented FastSLAM. The landmark positions and the semantic relationships among landmarks are detected by a binocular vision. Then the semantic observation model can be created by transforming the semantic relationships into the semantic metric map. Semantic UnscentedFastSLAM can be used to update the locations of the landmarks and robot pose even when the encoder inherits large cumulative errors that may not be corrected by the loop closure detection of the vision system. Experiments have been carried out to demonstrate that the Semantic UnscentedFastSLAM algorithm can achieve much better performance in indoor autonomous surveillance than Unscented FastSLAM. |
| 收录类别 | SCI |
| 原文出处 | http://apps.webofknowledge.com/full_record.do?product=WOS&search_mode=GeneralSearch&qid=15&SID=Y1VmmJbFBOrzBa8CBmR&page=1&doc=1 |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/6669]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | MATHEMATICAL PROBLEMS IN ENGINEERING |
| 推荐引用方式 GB/T 7714 | Zhu, Xiaorui,Deng, Fucheng,Ou, Yongsheng,et al. Vision-Based Semantic Unscented FastSLAM for Indoor Service Robot[J]. MATHEMATICAL PROBLEMS IN ENGINEERING,2015. |
| APA | Zhu, Xiaorui,Deng, Fucheng,Ou, Yongsheng,Liu, Letian,&Wang, Ermeng.(2015).Vision-Based Semantic Unscented FastSLAM for Indoor Service Robot.MATHEMATICAL PROBLEMS IN ENGINEERING. |
| MLA | Zhu, Xiaorui,et al."Vision-Based Semantic Unscented FastSLAM for Indoor Service Robot".MATHEMATICAL PROBLEMS IN ENGINEERING (2015). |
入库方式： OAI收割
来源：深圳先进技术研究院
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