Efficient data association for robot 3D vision-SLAM

Xiao-hua Wang; Dai-xian Zhu

doi:10.1117/12.867477

19 August 2010 Efficient data association for robot 3D vision-SLAM

Xiao-hua Wang, Dai-xian Zhu

Proceedings Volume 7820, International Conference on Image Processing and Pattern Recognition in Industrial Engineering; 78200M (2010) https://doi.org/10.1117/12.867477
Event: International Conference on Image Processing and Pattern Recognition in Industrial Engineering, 2010, Xi'an, China

Abstract

A new approach to vision-based simultaneous localization and mapping (SLAM) is proposed. the scale invariant feature transform (SIFT) features is landmarks, The minimal connected dominating set(CDS) approach is used in data association which solve the problem that the scale of data association increase with the map grows in process of SLAM. SLAM is completed by fusing the information of binocular vision and robot pose with Extended Kalman Filter (EKF). The system has been implemented and tested on data gathered with a mobile robot in a typical office environment. Experiments presented demonstrate that proposed method improves the data association and in this way leads to more accurate maps.

Citation Download Citation

Xiao-hua Wang and Dai-xian Zhu "Efficient data association for robot 3D vision-SLAM", Proc. SPIE 7820, International Conference on Image Processing and Pattern Recognition in Industrial Engineering, 78200M (19 August 2010); https://doi.org/10.1117/12.867477

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available