Vision-Based Semantic Unscented FastSLAM for Indoor Service Robot
Joint Authors
Zhu, Xiaorui
Deng, Fucheng
Ou, Yongsheng
Liu, Letian
Wang, Ermeng
Source
Mathematical Problems in Engineering
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-07-27
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract 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.
American Psychological Association (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
Modern Language Association (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
American Medical Association (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
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1073010