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Stereo vision based SLAM using Rao-Blackwellised particle filter
Wu, Er-Yong1; Li, Gong-Yan2; Xiang, Zhi-Yu1; Liu, Ji-Lin1
2008-04-01
发表期刊JOURNAL OF ZHEJIANG UNIVERSITY-SCIENCE A
卷号9期号:4页码:500-509
文章类型Article
摘要We present an algorithm which can realize 3D stereo vision simultaneous localization and mapping (SLAM) for mobile robot in unknown outdoor environments, which means the 6-DOF motion and a sparse but persistent map of natural landmarks be constructed online only with a stereo camera. In mobile robotics research, we extend FastSLAM 2.0 like stereo vision SLAM with "pure vision" domain to outdoor environments. Unlike popular stochastic motion model used in conventional monocular vision SLAM, we utilize the ideas of structure from motion (SFM) for initial motion estimation, which is more suitable for the robot moving in-large-scale outdoor, and textured environments. SIFT features are used as natural landmarks, and its 3D positions are constructed directly through triangulation. Considering the computational complexity and memory consumption, Bkd-tree and Best-Bin-First (BBF) search strategy are utilized for SIFT feature descriptor matching. Results show high accuracy of our algorithm, even in the circumstance of large translation and large rotation movements.
关键词Robot Vision Based Slam Sift Feature Management
WOS标题词Science & Technology ; Technology ; Physical Sciences
收录类别SCI
语种英语
WOS研究方向Engineering ; Science & Technology - Other Topics ; Physics
WOS类目Engineering, Multidisciplinary ; Multidisciplinary Sciences ; Physics, Applied
WOS记录号WOS:000254998000008
引用统计
被引频次:2[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/173211/9512
专题09年以前成果
作者单位1.Zhejiang Univ, Dept Informat Sci & Elect Engn, Hangzhou 310027, Peoples R China
2.Chinese Acad Sci, Inst Automat, Natl Lab Pattern Recognit, Beijing 100080, Peoples R China
推荐引用方式
GB/T 7714
Wu, Er-Yong,Li, Gong-Yan,Xiang, Zhi-Yu,et al. Stereo vision based SLAM using Rao-Blackwellised particle filter[J]. JOURNAL OF ZHEJIANG UNIVERSITY-SCIENCE A,2008,9(4):500-509.
APA Wu, Er-Yong,Li, Gong-Yan,Xiang, Zhi-Yu,&Liu, Ji-Lin.(2008).Stereo vision based SLAM using Rao-Blackwellised particle filter.JOURNAL OF ZHEJIANG UNIVERSITY-SCIENCE A,9(4),500-509.
MLA Wu, Er-Yong,et al."Stereo vision based SLAM using Rao-Blackwellised particle filter".JOURNAL OF ZHEJIANG UNIVERSITY-SCIENCE A 9.4(2008):500-509.
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