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    題名: Improving Data Association in Robot SLAM with Monocular Vision
    作者: Wang, Yin-Tien;Hung, Duan-Yan;Sun, Chung-Hsun
    貢獻者: 淡江大學機械與機電工程學系
    關鍵詞: data association;likelihood function;nearest-neighbor (NN) method;speeded up robust features (SURF);simultaneous localization and mapping (SLAM);monocular vision
    日期: 2011-11-01
    上傳時間: 2011-10-21 13:59:00 (UTC+8)
    出版者: 臺北市:中央研究院資訊科學研究所
    摘要: In the paper, an algorithm is proposed for improving the data association in robot visual Simultaneous Localization and Mapping (SLAM). The detection of speeded-up robust feature (SURF) is employed in the algorithm to provide a robust description for image features as well as a better representation of landmarks in the map of a visual SLAM system. Meanwhile, a likelihood-based tracking window and a nearest-neighbor (NN) method are utilized to match the high-dimensional data sets created for SURF. Experiments are carried out on a hand-held camera to verify the performances of the proposed algorithm for dealing with the data association problem in robot visual SLAM. The results show that the integration of the SURF features, the tracking window and the NN method is efficient in reducing the computational time and increasing the rate of successful feature matching.
    關聯: Journal of Information Science and Engineering 27(6), pp.1823-1837
    顯示於類別:[機械與機電工程學系暨研究所] 期刊論文


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