Keyframes Global Map Establishing Method for Robot Localization through Content-Based Image Matching
المؤلفون المشاركون
Cao, Tianyang
Cai, Haoyuan
Fang, Dongming
Huang, Hui
Liu, Chang
المصدر
العدد
المجلد 2017، العدد 2017 (31 ديسمبر/كانون الأول 2017)، ص ص. 1-16، 16ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2017-01-11
دولة النشر
مصر
عدد الصفحات
16
التخصصات الرئيسية
الملخص EN
Self-localization and mapping are important for indoor mobile robot.
We report a robust algorithm for map building and subsequent localization especially suited for indoor floor-cleaning robots.
Common methods, for example, SLAM, can easily be kidnapped by colliding or disturbed by similar objects.
Therefore, keyframes global map establishing method for robot localization in multiple rooms and corridors is needed.
Content-based image matching is the core of this method.
It is designed for the situation, by establishing keyframes containing both floor and distorted wall images.
Image distortion, caused by robot view angle and movement, is analyzed and deduced.
And an image matching solution is presented, consisting of extraction of overlap regions of keyframes extraction and overlap region rebuild through subblocks matching.
For improving accuracy, ceiling points detecting and mismatching subblocks checking methods are incorporated.
This matching method can process environment video effectively.
In experiments, less than 5% frames are extracted as keyframes to build global map, which have large space distance and overlap each other.
Through this method, robot can localize itself by matching its real-time vision frames with our keyframes map.
Even with many similar objects/background in the environment or kidnapping robot, robot localization is achieved with position RMSE <0.5 m.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Cao, Tianyang& Cai, Haoyuan& Fang, Dongming& Huang, Hui& Liu, Chang. 2017. Keyframes Global Map Establishing Method for Robot Localization through Content-Based Image Matching. Journal of Robotics،Vol. 2017, no. 2017, pp.1-16.
https://search.emarefa.net/detail/BIM-1186317
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Cao, Tianyang…[et al.]. Keyframes Global Map Establishing Method for Robot Localization through Content-Based Image Matching. Journal of Robotics No. 2017 (2017), pp.1-16.
https://search.emarefa.net/detail/BIM-1186317
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Cao, Tianyang& Cai, Haoyuan& Fang, Dongming& Huang, Hui& Liu, Chang. Keyframes Global Map Establishing Method for Robot Localization through Content-Based Image Matching. Journal of Robotics. 2017. Vol. 2017, no. 2017, pp.1-16.
https://search.emarefa.net/detail/BIM-1186317
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1186317
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
تقوم هذه الخدمة بالتحقق من التشابه أو الانتحال في الأبحاث والمقالات العلمية والأطروحات الجامعية والكتب والأبحاث باللغة العربية، وتحديد درجة التشابه أو أصالة الأعمال البحثية وحماية ملكيتها الفكرية. تعرف اكثر