Vision-Based Semantic Unscented FastSLAM for Indoor Service Robot

المؤلفون المشاركون

Zhu, Xiaorui
Deng, Fucheng
Ou, Yongsheng
Liu, Letian
Wang, Ermeng

المصدر

Mathematical Problems in Engineering

العدد

المجلد 2015، العدد 2015 (31 ديسمبر/كانون الأول 2015)، ص ص. 1-10، 10ص.

الناشر

Hindawi Publishing Corporation

تاريخ النشر

2015-07-27

دولة النشر

مصر

عدد الصفحات

10

التخصصات الرئيسية

هندسة مدنية

الملخص EN

This paper proposes a vision-based Semantic Unscented FastSLAM (UFastSLAM) algorithm for mobile service robot combining the semantic relationship and the Unscented FastSLAM.

The landmark positions and the semantic relationships among landmarks are detected by a binocular vision.

Then the semantic observation model can be created by transforming the semantic relationships into the semantic metric map.

Semantic Unscented FastSLAM can be used to update the locations of the landmarks and robot pose even when the encoder inherits large cumulative errors that may not be corrected by the loop closure detection of the vision system.

Experiments have been carried out to demonstrate that the Semantic Unscented FastSLAM algorithm can achieve much better performance in indoor autonomous surveillance than Unscented FastSLAM.

نمط استشهاد جمعية علماء النفس الأمريكية (APA)

Zhu, Xiaorui& Deng, Fucheng& Ou, Yongsheng& Liu, Letian& Wang, Ermeng. 2015. Vision-Based Semantic Unscented FastSLAM for Indoor Service Robot. Mathematical Problems in Engineering،Vol. 2015, no. 2015, pp.1-10.
https://search.emarefa.net/detail/BIM-1073010

نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)

Zhu, Xiaorui…[et al.]. Vision-Based Semantic Unscented FastSLAM for Indoor Service Robot. Mathematical Problems in Engineering No. 2015 (2015), pp.1-10.
https://search.emarefa.net/detail/BIM-1073010

نمط استشهاد الجمعية الطبية الأمريكية (AMA)

Zhu, Xiaorui& Deng, Fucheng& Ou, Yongsheng& Liu, Letian& Wang, Ermeng. Vision-Based Semantic Unscented FastSLAM for Indoor Service Robot. Mathematical Problems in Engineering. 2015. Vol. 2015, no. 2015, pp.1-10.
https://search.emarefa.net/detail/BIM-1073010

نوع البيانات

مقالات

لغة النص

الإنجليزية

الملاحظات

Includes bibliographical references

رقم السجل

BIM-1073010