Mobile Robot Simultaneous Localization and Mapping Based on a Monocular Camera
Joint Authors
Jia, Songmin
Li, Xiuzhi
Wang, Ke
Source
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-06-02
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
This paper proposes a novel monocular vision-based SLAM (Simultaneous Localization and Mapping) algorithm for mobile robot.
In this proposed method, the tracking and mapping procedures are split into two separate tasks and performed in parallel threads.
In the tracking thread, a ground feature-based pose estimation method is employed to initialize the algorithm for the constraint moving of the mobile robot.
And an initial map is built by triangulating the matched features for further tracking procedure.
In the mapping thread, an epipolar searching procedure is utilized for finding the matching features.
A homography-based outlier rejection method is adopted for rejecting the mismatched features.
The indoor experimental results demonstrate that the proposed algorithm has a great performance on map building and verify the feasibility and effectiveness of the proposed algorithm.
American Psychological Association (APA)
Jia, Songmin& Wang, Ke& Li, Xiuzhi. 2016. Mobile Robot Simultaneous Localization and Mapping Based on a Monocular Camera. Journal of Robotics،Vol. 2016, no. 2016, pp.1-11.
https://search.emarefa.net/detail/BIM-1110285
Modern Language Association (MLA)
Jia, Songmin…[et al.]. Mobile Robot Simultaneous Localization and Mapping Based on a Monocular Camera. Journal of Robotics No. 2016 (2016), pp.1-11.
https://search.emarefa.net/detail/BIM-1110285
American Medical Association (AMA)
Jia, Songmin& Wang, Ke& Li, Xiuzhi. Mobile Robot Simultaneous Localization and Mapping Based on a Monocular Camera. Journal of Robotics. 2016. Vol. 2016, no. 2016, pp.1-11.
https://search.emarefa.net/detail/BIM-1110285
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1110285