CASIA OpenIR  > 学术期刊  > International Journal of Automation and Computing
A Brain-inspired SLAM System Based on ORB Features
Sun-Chun Zhou; Rui Yan; Jia-Xin Li; Ying-Ke Chen; Huajin Tang
Source PublicationInternational Journal of Automation and Computing
ISSN1476-8186
2017
Volume14Issue:5Pages:564-575
SubtypeIJAC-HIC-2016-12-308.pdf
AbstractThis 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.
KeywordSimultaneous 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.
DOI10.1007/s11633-017-1090-y
Citation statistics
Cited Times:10[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/42480
Collection学术期刊_International Journal of Automation and Computing
AffiliationNeuromorphic 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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