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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
AbstractWe 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.
KeywordRobot Vision Based Slam Sift Feature Management
WOS HeadingsScience & Technology ; Technology ; Physical Sciences
Indexed BySCI
WOS Research AreaEngineering ; Science & Technology - Other Topics ; Physics
WOS SubjectEngineering, Multidisciplinary ; Multidisciplinary Sciences ; Physics, Applied
WOS IDWOS:000254998000008
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Document Type期刊论文
Affiliation1.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
Recommended Citation
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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