Knowledge Commons of Institute of Automation，CAS
| A Brain-inspired SLAM System Based on ORB Features | |
| Sun-Chun Zhou; Rui Yan; Jia-Xin Li; Ying-Ke Chen; Huajin Tang | |
| Source Publication | International Journal of Automation and Computing
 |
| ISSN | 1476-8186 |
| 2017 | |
| Volume | 14Issue:5Pages:564-575 |
| Subtype | IJAC-HIC-2016-12-308.pdf |
| Abstract | 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. |
| Keyword | 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 |
| Citation statistics | |
| Document Type | 期刊论文 |
| Identifier | http://ir.ia.ac.cn/handle/173211/42480 |
| Collection | 学术期刊_International Journal of Automation and Computing |
| Affiliation | Neuromorphic Computing Research Center, College of Computer Science, Sichuan University, Chengdu 610065, China |
| Recommended Citation 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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| File Name/Size | DocType | Version | Access | License | ||
| IJAC-HIC-2016-12-308（2451KB） | 期刊论文 | 出版稿 | 开放获取 | CC BY-NC-SA | View Download | |
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