이동 로봇 주행을 위한 이미지 매칭에 기반한 레이저 영상 SLAM

Title
이동 로봇 주행을 위한 이미지 매칭에 기반한 레이저 영상 SLAM
Other Titles
Laser Image SLAM based on Image Matching for Navigation of a Mobile Robot
Author(s)
이석규최윤원최정원[최정원]김경동
Keywords
SLAM; Image Matching; Extended Kalman Filter; Speeded Up Robust Features
Issue Date
201302
Publisher
한국정밀공학회
Citation
한국정밀공학회지, v.30, no.2, pp.177 - 184
Abstract
This paper proposes an enhanced Simultaneous Localization and Mapping (SLAM) algorithm based on matching laser image and Extended Kalman Filter (EKF). In general, laser information is one of the most efficient data for localization of mobile robots and is more accurate than encoder data. For localization of a mobile robot, moving distance information of a robot is often obtained by encoders and distance information from the robot to landmarks is estimated by various sensors. Though encoder has high resolution, it is difficult to estimate current position of a robot precisely because of encoder error caused by slip and backlash of wheels. In this paper, the position and angle of the robot are estimated by comparing laser images obtained from laser scanner with high accuracy. In addition, Speeded Up Robust Features (SURF) is used for extracting feature points at previous laser image and current laser image by comparing feature points. As a result, the moving distance and heading angle are obtained based on information of available points. The experimental results using the proposed laser slam algorithm show effectiveness for the SLAM of robot.
URI
http://hdl.handle.net/YU.REPOSITORY/26305http://dx.doi.org/10.7736/KSPE.2013.30.2.177
ISSN
1225-9071
Appears in Collections:
공과대학 > 전기공학과 > Articles
Files in This Item:
There are no files associated with this item.
Export
RIS (EndNote)
XLS (Excel)
XML


qrcode

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE