Stereo vision based SLAM using Rao-Blackwellised particle filter

	Stereo vision based SLAM using Rao-Blackwellised particle filter
	Wu, Er-Yong 1; Li, Gong-Yan 2; Xiang, Zhi-Yu 1; Liu, Ji-Lin 1
刊名	JOURNAL OF ZHEJIANG UNIVERSITY-SCIENCE A
	2008-04-01
卷号	9 期号:4 页码:500-509
关键词	robot vision based SLAM SIFT feature management
英文摘要	We present an algorithm which can realize 3D stereo vision simultaneous localization and mapping (SLAM) for mobile robot in unknown outdoor environments, which means the 6-DOF motion and a sparse but persistent map of natural landmarks be constructed online only with a stereo camera. In mobile robotics research, we extend FastSLAM 2.0 like stereo vision SLAM with "pure vision" domain to outdoor environments. Unlike popular stochastic motion model used in conventional monocular vision SLAM, we utilize the ideas of structure from motion (SFM) for initial motion estimation, which is more suitable for the robot moving in-large-scale outdoor, and textured environments. SIFT features are used as natural landmarks, and its 3D positions are constructed directly through triangulation. Considering the computational complexity and memory consumption, Bkd-tree and Best-Bin-First (BBF) search strategy are utilized for SIFT feature descriptor matching. Results show high accuracy of our algorithm, even in the circumstance of large translation and large rotation movements.
WOS标题词	Science & Technology ; Technology ; Physical Sciences
类目[WOS]	Engineering, Multidisciplinary ; Multidisciplinary Sciences ; Physics, Applied
研究领域[WOS]	Engineering ; Science & Technology - Other Topics ; Physics
收录类别	SCI
语种	英语
WOS记录号	WOS:000254998000008
公开日期	2015-12-24
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/9562]
专题	自动化研究所_09年以前成果
作者单位	1.Zhejiang Univ, Dept Informat Sci & Elect Engn, Hangzhou 310027, Peoples R China 2.Chinese Acad Sci, Inst Automat, Natl Lab Pattern Recognit, Beijing 100080, Peoples R China
推荐引用方式 GB/T 7714	Wu, Er-Yong,Li, Gong-Yan,Xiang, Zhi-Yu,et al. Stereo vision based SLAM using Rao-Blackwellised particle filter[J]. JOURNAL OF ZHEJIANG UNIVERSITY-SCIENCE A,2008,9(4):500-509.
APA	Wu, Er-Yong,Li, Gong-Yan,Xiang, Zhi-Yu,&Liu, Ji-Lin.(2008).Stereo vision based SLAM using Rao-Blackwellised particle filter.JOURNAL OF ZHEJIANG UNIVERSITY-SCIENCE A,9(4),500-509.
MLA	Wu, Er-Yong,et al."Stereo vision based SLAM using Rao-Blackwellised particle filter".JOURNAL OF ZHEJIANG UNIVERSITY-SCIENCE A 9.4(2008):500-509.