標題: A New Approach to Map Joining for Depth-Augmented Visual SLAM
作者: Liu, Chien-Hung
Song, Kai-Tai
電控工程研究所
Institute of Electrical and Control Engineering
關鍵字: Visual features;SLAM;mobile robot navigation
公開日期: 2013
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.
URI: http://hdl.handle.net/11536/24121
ISBN: 978-1-4673-5769-2; 978-1-4673-5767-8
期刊: 2013 9TH ASIAN CONTROL CONFERENCE (ASCC)
Appears in Collections:Conferences Paper