Feature selection SLAM algorithm incorporating attention and anticipation
文献类型：会议论文
| 作者 | Zeng YJ(曾毓菁)1,2,3; Jiang Y(姜勇)1,2
|
| 出版日期 | 2021 |
| 会议日期 | July 27-31, 2021 |
| 会议地点 | Jiaxing, China |
| 页码 | 317-321 |
| 英文摘要 | Aiming at the problem of localization failure of SLAM in the scene of sharp turning and fast movement, a feature selection simultaneous localization and mapping (SLAM) algorithm incorporating attention and anticipation is proposed. It can select features that are more likely to stay in the field of view as the camera moves, and discard features that are about to disappear from the field of view. The logdet metric is used to measure the feasibility of quantifying feature selection firstly. And then, calculate the information matrix of features. From the detected features, a greedy algorithm is used to select the features (approximately) to maximize the logdet metric. Finally, the actual test combined with ORB-SLAM2 shows that the algorithm can ensure the accuracy of positioning in complex scenarios (such as sharp turning and fast movement). © 2021 IEEE. |
| 源文献作者 | IEEE Robotics and Automation Society ; Shenyang Institute of Automation CAS ; Shenzhen Academy of Robotics |
| 产权排序 | 1 |
| 会议录 | 2021 IEEE 11th International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2021
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISSN号 | 2642-6633 |
| ISBN号 | 978-1-6654-2527-8 |
| 源URL | [http://ir.sia.cn/handle/173321/29941]  |
| 专题 | 工艺装备与智能机器人研究室 |
| 通讯作者 | Jiang Y(姜勇) |
| 作者单位 | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China 3.College of Information Science and Engineering, Northeastern University, Shenyang, China |
| 推荐引用方式 GB/T 7714 | Zeng YJ,Jiang Y. Feature selection SLAM algorithm incorporating attention and anticipation[C]. 见:. Jiaxing, China. July 27-31, 2021. |
入库方式： OAI收割
来源：沈阳自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。