A practical approach for EKF-SLAM in an indoor environment: fusing ultrasonic sensors and stereo camera
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Ahn, SungHwan | - |
dc.contributor.author | Choi, Jinwoo | - |
dc.contributor.author | Doh, Nakju Lett | - |
dc.contributor.author | Chung, Wan Kyun | - |
dc.date.accessioned | 2021-09-09T09:44:17Z | - |
dc.date.available | 2021-09-09T09:44:17Z | - |
dc.date.created | 2021-06-10 | - |
dc.date.issued | 2008-04 | - |
dc.identifier.issn | 0929-5593 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/123817 | - |
dc.description.abstract | Improving the practical capability of SLAM requires effective sensor fusion to cope with the large uncertainties from the sensors and environment. Fusing ultrasonic and vision sensors possesses advantages of both economical efficiency and complementary cooperation. In particular, it can resolve the false data association and divergence problem of an ultrasonic sensor-only algorithm and overcome both the low frequency of SLAM update caused by the computational burden and the weakness to illumination changes of a vision sensor-only algorithm. In this paper, we propose a VR-SLAM (Vision and Range sensor-SLAM) algorithm to combine ultrasonic sensors and stereo camera very effectively. It consists of two schemes: (1) extracting robust point and line features from sonar data and (2) recognizing planar visual objects using a multi-scale Harris corner detector and its SIFT descriptor from a pre-constructed object database. We show that fusing these schemes through EKF-SLAM frameworks can achieve correct data association via the object recognition and high frequency update via the sonar features. The performance of the proposed algorithm was verified by experiments in various real indoor environments. | - |
dc.language | English | - |
dc.language.iso | en | - |
dc.publisher | SPRINGER | - |
dc.subject | MOBILE ROBOT LOCALIZATION | - |
dc.subject | SCALE | - |
dc.subject | ALGORITHM | - |
dc.title | A practical approach for EKF-SLAM in an indoor environment: fusing ultrasonic sensors and stereo camera | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Doh, Nakju Lett | - |
dc.identifier.doi | 10.1007/s10514-007-9083-2 | - |
dc.identifier.scopusid | 2-s2.0-39749171803 | - |
dc.identifier.wosid | 000253525400007 | - |
dc.identifier.bibliographicCitation | AUTONOMOUS ROBOTS, v.24, no.3, pp.315 - 335 | - |
dc.relation.isPartOf | AUTONOMOUS ROBOTS | - |
dc.citation.title | AUTONOMOUS ROBOTS | - |
dc.citation.volume | 24 | - |
dc.citation.number | 3 | - |
dc.citation.startPage | 315 | - |
dc.citation.endPage | 335 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.description.journalClass | 1 | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Computer Science | - |
dc.relation.journalResearchArea | Robotics | - |
dc.relation.journalWebOfScienceCategory | Computer Science, Artificial Intelligence | - |
dc.relation.journalWebOfScienceCategory | Robotics | - |
dc.subject.keywordPlus | MOBILE ROBOT LOCALIZATION | - |
dc.subject.keywordPlus | SCALE | - |
dc.subject.keywordPlus | ALGORITHM | - |
dc.subject.keywordAuthor | ultrasonic sensor | - |
dc.subject.keywordAuthor | sonar feature detection | - |
dc.subject.keywordAuthor | stereo camera | - |
dc.subject.keywordAuthor | visual object recognition | - |
dc.subject.keywordAuthor | SLAM | - |
dc.subject.keywordAuthor | mobile robot | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
(02841) 서울특별시 성북구 안암로 14502-3290-1114
COPYRIGHT © 2021 Korea University. All Rights Reserved.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.