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dc.contributor.authorLiu, Chien-Hungen_US
dc.contributor.authorSong, Kai-Taien_US
dc.date.accessioned2014-12-08T15:35:44Z-
dc.date.available2014-12-08T15:35:44Z-
dc.date.issued2013en_US
dc.identifier.isbn978-1-4673-5769-2; 978-1-4673-5767-8en_US
dc.identifier.urihttp://hdl.handle.net/11536/24121-
dc.description.abstractIn 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.en_US
dc.language.isoen_USen_US
dc.subjectVisual featuresen_US
dc.subjectSLAMen_US
dc.subjectmobile robot navigationen_US
dc.titleA New Approach to Map Joining for Depth-Augmented Visual SLAMen_US
dc.typeProceedings Paperen_US
dc.identifier.journal2013 9TH ASIAN CONTROL CONFERENCE (ASCC)en_US
dc.contributor.department電控工程研究所zh_TW
dc.contributor.departmentInstitute of Electrical and Control Engineeringen_US
dc.identifier.wosnumberWOS:000333734900254-
Appears in Collections:Conferences Paper