NDLI: Mobile robot loop closing using monocular vision SLAM

Content Provider	IEEE Xplore Digital Library
Author	Kai-Tai Song Li-Deh Yuan
Copyright Year	2010
Description	Author affiliation: Institute of Electrical and Control Engineering, National Chiao Tung University, 1001 Ta Hsueh Road, Hsinchu 30010, Taiwan R.O.C. (Kai-Tai Song; Li-Deh Yuan)
Abstract	This paper presents a design and implementation of simultaneous localization and mapping(SLAM) of a mobile robot using a monocular camera. The vSLAM system is based on techniques of extended Kalman filter (EKF) and scaling invariant feature transform (SIFT) algorithms. We propose in this paper a new method to discard outliers and improve the feature matching rate by using the characteristic of monocular camera. This method helps for the stability of EKF algorithm and allows more accurate robot localization. In this work, reference images are saved into a database and the current image is matched with reference images to improve loop closing performance of a mobile robot. Experimental results show that the proposed method effectively improves the feature matching rate and therefore the loop closing accuracy. Multi-loop indoor navigation experiments reveal that the proposed localization algorithm can help robot to navigate in an indoor environment and build the features map simultaneously.
Starting Page	1920
Ending Page	1923
File Size	355011
Page Count	4
File Format	PDF
ISBN	9781424476428
e-ISBN	9784907764364
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-08-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	SICE
Subject Keyword	Simultaneous localization and mapping Robot kinematics Feature extraction Mobile robots Robot vision systems Cameras computer vision SLAM mobile robot navigation
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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