A Brain-inspired SLAM System Based on ORB Features

doi:10.1007/s11633-017-1090-y

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	A Brain-inspired SLAM System Based on ORB Features
	Sun-Chun Zhou; Rui Yan; Jia-Xin Li; Ying-Ke Chen; Huajin Tang
刊名	International Journal of Automation and Computing
	2017
卷号	14 期号:5 页码:564-575
关键词	Simultaneous localization and mapping (SLAM) RatSLAM mobile robot oriented features from accelerated segment test and rotated binary robust independent elementary (ORB) features of RGB (red, green, blue) cognitive map.
ISSN号	1476-8186
DOI	10.1007/s11633-017-1090-y
文献子类	IJAC-HIC-2016-12-308.pdf
英文摘要	This paper describes a brain-inspired simultaneous localization and mapping (SLAM) system using oriented features from accelerated segment test and rotated binary robust independent elementary (ORB) features of RGB (red, green, blue) sensor for a mobile robot. The core SLAM system, dubbed RatSLAM, can construct a cognitive map using information of raw odometry and visual scenes in the path traveled. Different from existing RatSLAM system which only uses a simple vector to represent features of visual image, in this paper, we employ an efficient and very fast descriptor method, called ORB, to extract features from RGB images. Experiments show that these features are suitable to recognize the sequences of familiar visual scenes. Thus, while loop closure errors are detected, the descriptive features will help to modify the pose estimation by driving loop closure and localization in a map correction algorithm. Efficiency and robustness of our method are also demonstrated by comparing with different visual processing algorithms.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/42480]
专题	自动化研究所_学术期刊_International Journal of Automation and Computing
作者单位	Neuromorphic Computing Research Center, College of Computer Science, Sichuan University, Chengdu 610065, China
推荐引用方式 GB/T 7714	Sun-Chun Zhou,Rui Yan,Jia-Xin Li,et al. A Brain-inspired SLAM System Based on ORB Features[J]. International Journal of Automation and Computing,2017,14(5):564-575.
APA	Sun-Chun Zhou,Rui Yan,Jia-Xin Li,Ying-Ke Chen,&Huajin Tang.(2017).A Brain-inspired SLAM System Based on ORB Features.International Journal of Automation and Computing,14(5),564-575.
MLA	Sun-Chun Zhou,et al."A Brain-inspired SLAM System Based on ORB Features".International Journal of Automation and Computing 14.5(2017):564-575.