An improvement of a SLAM RGB-D method with movement prediction derived from a study of visual features
Por favor, use este identificador para citar o enlazar este ítem:
http://hdl.handle.net/10045/45525
Título: | An improvement of a SLAM RGB-D method with movement prediction derived from a study of visual features |
---|---|
Autor/es: | Cazorla, Miguel | Gil, Pablo | Puente Méndez, Santiago T. | Muñoz, Jose L. | Pastor, Daniel |
Grupo/s de investigación o GITE: | Robótica y Visión Tridimensional (RoViT) | Automática, Robótica y Visión Artificial |
Centro, Departamento o Servicio: | Universidad de Alicante. Departamento de Ciencia de la Computación e Inteligencia Artificial | Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal |
Palabras clave: | SLAM | RGBD | Visual features | Robotics | Robot vision | 3D vision |
Área/s de conocimiento: | Ciencia de la Computación e Inteligencia Artificial | Ingeniería de Sistemas y Automática |
Fecha de publicación: | 22-jul-2014 |
Editor: | Taylor & Francis |
Cita bibliográfica: | Advanced Robotics. 2014, 28(18): 1231-1242. doi:10.1080/01691864.2014.920720 |
Resumen: | This paper presents a method for the fast calculation of a robot’s egomotion using visual features. The method is part of a complete system for automatic map building and Simultaneous Location and Mapping (SLAM). The method uses optical flow to determine whether the robot has undergone a movement. If so, some visual features that do not satisfy several criteria are deleted, and then egomotion is calculated. Thus, the proposed method improves the efficiency of the whole process because not all the data is processed. We use a state-of-the-art algorithm (TORO) to rectify the map and solve the SLAM problem. Additionally, a study of different visual detectors and descriptors has been conducted to identify which of them are more suitable for the SLAM problem. Finally, a navigation method is described using the map obtained from the SLAM solution. |
Patrocinador/es: | The authors wish to express their gratitude to the Office of the Vice President for Research, Development and Innovation of the University of Alicante and the Valencia Regional Government for their financial support through the projects GRE10-16 and GV 2012/102, respectively. |
URI: | http://hdl.handle.net/10045/45525 |
ISSN: | 0169-1864 (Print) | 1568-5535 (Online) |
DOI: | 10.1080/01691864.2014.920720 |
Idioma: | eng |
Tipo: | info:eu-repo/semantics/article |
Derechos: | © 2014 Taylor & Francis and The Robotics Society of Japan |
Revisión científica: | si |
Versión del editor: | http://dx.doi.org/10.1080/01691864.2014.920720 |
Aparece en las colecciones: | INV - AUROVA - Artículos de Revistas INV - RoViT - Artículos de Revistas |
Archivos en este ítem:
Archivo | Descripción | Tamaño | Formato | |
---|---|---|---|---|
2014_Cazorla_etal_Advanced-Robotics_final.pdf | Versión final (acceso restringido) | 1,68 MB | Adobe PDF | Abrir Solicitar una copia |
Todos los documentos en RUA están protegidos por derechos de autor. Algunos derechos reservados.