Orientation Correction Based Monocular SLAM for a Mobile Robot

Haoyao Chen; Dong Sun; Jie Yang; Wen Shang

doi:10.1109/AIM.2008.4601863

Orientation Correction Based Monocular SLAM for a Mobile Robot

Haoyao Chen, Dong Sun, Jie Yang, Wen Shang

City University of Hong Kong

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

2 Citations (Scopus)

Abstract

We develop a new algorithm for SLAM that uses a PTZ-camera for visual observation of natural landmarks. A new Divided JCBB algorithm is presented to quickly address the visual data association problem without bounding the number of image features. Additionally, the presented orientation correction method is employed to well address the difficult SLAM orientation problem. The presented algorithm can greatly improve the performance of map building by reducing almost all the repeated landmarks, and can make the SLAM loop process to be simple as the orientation error is bounded. Experimental results in real environment showed that the proposed algorithm was very fast, stable and accurate.

Original language	English
Title of host publication	Proceedings of the 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Pages	1378-1383
DOIs	https://doi.org/10.1109/AIM.2008.4601863
Publication status	Published - 2 Jul 2008
Event	2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics - Xian, China Duration: 2 Jul 2008 → 5 Jul 2008

Conference

Conference	2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Place	China
City	Xian
Period	2/07/08 → 5/07/08

Research Keywords

SLAM
mobile Robot
ceiling vision

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10.1109/AIM.2008.4601863

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@inproceedings{9046893486974980b0ede825490f1ea6,

title = "Orientation Correction Based Monocular SLAM for a Mobile Robot",

abstract = "We develop a new algorithm for SLAM that uses a PTZ-camera for visual observation of natural landmarks. A new Divided JCBB algorithm is presented to quickly address the visual data association problem without bounding the number of image features. Additionally, the presented orientation correction method is employed to well address the difficult SLAM orientation problem. The presented algorithm can greatly improve the performance of map building by reducing almost all the repeated landmarks, and can make the SLAM loop process to be simple as the orientation error is bounded. Experimental results in real environment showed that the proposed algorithm was very fast, stable and accurate.",

keywords = "SLAM, mobile Robot, ceiling vision",

author = "Haoyao Chen and Dong Sun and Jie Yang and Wen Shang",

year = "2008",

month = jul,

day = "2",

doi = "10.1109/AIM.2008.4601863",

language = "English",

isbn = "9781424424955",

pages = "1378--1383",

booktitle = "Proceedings of the 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics",

note = "2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics ; Conference date: 02-07-2008 Through 05-07-2008",

}

Chen, H, Sun, D, Yang, J & Shang, W 2008, Orientation Correction Based Monocular SLAM for a Mobile Robot. in Proceedings of the 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics., 4601863, pp. 1378-1383, 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Xian, China, 2/07/08. https://doi.org/10.1109/AIM.2008.4601863

Orientation Correction Based Monocular SLAM for a Mobile Robot. / Chen, Haoyao; Sun, Dong; Yang, Jie et al.
Proceedings of the 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. 2008. p. 1378-1383 4601863.

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

TY - GEN

T1 - Orientation Correction Based Monocular SLAM for a Mobile Robot

AU - Chen, Haoyao

AU - Sun, Dong

AU - Yang, Jie

AU - Shang, Wen

PY - 2008/7/2

Y1 - 2008/7/2

N2 - We develop a new algorithm for SLAM that uses a PTZ-camera for visual observation of natural landmarks. A new Divided JCBB algorithm is presented to quickly address the visual data association problem without bounding the number of image features. Additionally, the presented orientation correction method is employed to well address the difficult SLAM orientation problem. The presented algorithm can greatly improve the performance of map building by reducing almost all the repeated landmarks, and can make the SLAM loop process to be simple as the orientation error is bounded. Experimental results in real environment showed that the proposed algorithm was very fast, stable and accurate.

AB - We develop a new algorithm for SLAM that uses a PTZ-camera for visual observation of natural landmarks. A new Divided JCBB algorithm is presented to quickly address the visual data association problem without bounding the number of image features. Additionally, the presented orientation correction method is employed to well address the difficult SLAM orientation problem. The presented algorithm can greatly improve the performance of map building by reducing almost all the repeated landmarks, and can make the SLAM loop process to be simple as the orientation error is bounded. Experimental results in real environment showed that the proposed algorithm was very fast, stable and accurate.

KW - SLAM

KW - mobile Robot

KW - ceiling vision

UR - http://www.scopus.com/inward/record.url?scp=52449123608&partnerID=8YFLogxK

UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-52449123608&origin=recordpage

U2 - 10.1109/AIM.2008.4601863

DO - 10.1109/AIM.2008.4601863

M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 9781424424955

SP - 1378

EP - 1383

BT - Proceedings of the 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

T2 - 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

Y2 - 2 July 2008 through 5 July 2008

ER -

Orientation Correction Based Monocular SLAM for a Mobile Robot

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