Conference Proceeding

Orientation correction based monocular SLAM for a mobile robot

Joint Adv. Res. Inst., City Univ of Hong Kong & Univ. of Sci. & Technol. of China, Suzhou
08/2008; DOI:10.1109/AIM.2008.4601863 pp.1378 - 1383 In proceeding of: Advanced Intelligent Mechatronics, 2008. AIM 2008. IEEE/ASME International Conference on
Source: IEEE Xplore

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.

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Keywords

difficult SLAM orientation problem
 
Experimental results
 
image features
 
JCBB algorithm
 
map building
 
natural landmarks
 
new algorithm
 
orientation error
 
presented algorithm
 
presented orientation correction method
 
proposed algorithm
 
repeated landmarks
 
simple
 
SLAM loop process
 
visual data association problem