A Brain-inspired SLAM System Based on ORB Features

doi:10.1007/s11633-017-1090-y

CASIA OpenIR > 学术期刊 > Machine Intelligence Research

	A Brain-inspired SLAM System Based on ORB Features
	Sun-Chun Zhou; Rui Yan; Jia-Xin Li; Ying-Ke Chen; Huajin Tang
发表期刊	International Journal of Automation and Computing
ISSN	1476-8186
	2017
卷号	14 期号:5 页码:564-575
文章类型	IJAC-HIC-2016-12-308.pdf
摘要	This paper describes a brain-inspired simultaneous localization and mapping (SLAM) system using oriented features from accelerated segment test and rotated binary robust independent elementary (ORB) features of RGB (red, green, blue) sensor for a mobile robot. The core SLAM system, dubbed RatSLAM, can construct a cognitive map using information of raw odometry and visual scenes in the path traveled. Different from existing RatSLAM system which only uses a simple vector to represent features of visual image, in this paper, we employ an efficient and very fast descriptor method, called ORB, to extract features from RGB images. Experiments show that these features are suitable to recognize the sequences of familiar visual scenes. Thus, while loop closure errors are detected, the descriptive features will help to modify the pose estimation by driving loop closure and localization in a map correction algorithm. Efficiency and robustness of our method are also demonstrated by comparing with different visual processing algorithms.
关键词	Simultaneous localization and mapping (SLAM) RatSLAM mobile robot oriented features from accelerated segment test and rotated binary robust independent elementary (ORB) features of RGB (red, green, blue) cognitive map.
DOI	10.1007/s11633-017-1090-y
引用统计	被引频次：23[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/42480
专题	学术期刊_Machine Intelligence Research
作者单位	Neuromorphic Computing Research Center, College of Computer Science, Sichuan University, Chengdu 610065, China
推荐引用方式 GB/T 7714	Sun-Chun Zhou,Rui Yan,Jia-Xin Li,et al. A Brain-inspired SLAM System Based on ORB Features[J]. International Journal of Automation and Computing,2017,14(5):564-575.
APA	Sun-Chun Zhou,Rui Yan,Jia-Xin Li,Ying-Ke Chen,&Huajin Tang.(2017).A Brain-inspired SLAM System Based on ORB Features.International Journal of Automation and Computing,14(5),564-575.
MLA	Sun-Chun Zhou,et al."A Brain-inspired SLAM System Based on ORB Features".International Journal of Automation and Computing 14.5(2017):564-575.

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