Mobile Robot Simultaneous Localization and Mapping Based on a Monocular Camera
This paper proposes a novel monocular vision-based SLAM (Simultaneous Localization and Mapping) algorithm for mobile robot. In this proposed method, the tracking and mapping procedures are split into two separate tasks and performed in parallel threads. In the tracking thread, a ground feature-based...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2016-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2016/7630340 |
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| _version_ | 1832545473392541696 |
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| author | Songmin Jia Ke Wang Xiuzhi Li |
| author_facet | Songmin Jia Ke Wang Xiuzhi Li |
| author_sort | Songmin Jia |
| collection | DOAJ |
| description | This paper proposes a novel monocular vision-based SLAM (Simultaneous Localization and Mapping) algorithm for mobile robot. In this proposed method, the tracking and mapping procedures are split into two separate tasks and performed in parallel threads. In the tracking thread, a ground feature-based pose estimation method is employed to initialize the algorithm for the constraint moving of the mobile robot. And an initial map is built by triangulating the matched features for further tracking procedure. In the mapping thread, an epipolar searching procedure is utilized for finding the matching features. A homography-based outlier rejection method is adopted for rejecting the mismatched features. The indoor experimental results demonstrate that the proposed algorithm has a great performance on map building and verify the feasibility and effectiveness of the proposed algorithm. |
| format | Article |
| id | doaj-art-d1a40610b2cb44b0b481274a5d2b1be1 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2016-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-d1a40610b2cb44b0b481274a5d2b1be12025-02-03T07:25:46ZengWileyJournal of Robotics1687-96001687-96192016-01-01201610.1155/2016/76303407630340Mobile Robot Simultaneous Localization and Mapping Based on a Monocular CameraSongmin Jia0Ke Wang1Xiuzhi Li2College of Electronic Information & Control Engineering, Beijing University of Technology, Beijing 100124, ChinaCollege of Electronic Information & Control Engineering, Beijing University of Technology, Beijing 100124, ChinaCollege of Electronic Information & Control Engineering, Beijing University of Technology, Beijing 100124, ChinaThis paper proposes a novel monocular vision-based SLAM (Simultaneous Localization and Mapping) algorithm for mobile robot. In this proposed method, the tracking and mapping procedures are split into two separate tasks and performed in parallel threads. In the tracking thread, a ground feature-based pose estimation method is employed to initialize the algorithm for the constraint moving of the mobile robot. And an initial map is built by triangulating the matched features for further tracking procedure. In the mapping thread, an epipolar searching procedure is utilized for finding the matching features. A homography-based outlier rejection method is adopted for rejecting the mismatched features. The indoor experimental results demonstrate that the proposed algorithm has a great performance on map building and verify the feasibility and effectiveness of the proposed algorithm.http://dx.doi.org/10.1155/2016/7630340 |
| spellingShingle | Songmin Jia Ke Wang Xiuzhi Li Mobile Robot Simultaneous Localization and Mapping Based on a Monocular Camera Journal of Robotics |
| title | Mobile Robot Simultaneous Localization and Mapping Based on a Monocular Camera |
| title_full | Mobile Robot Simultaneous Localization and Mapping Based on a Monocular Camera |
| title_fullStr | Mobile Robot Simultaneous Localization and Mapping Based on a Monocular Camera |
| title_full_unstemmed | Mobile Robot Simultaneous Localization and Mapping Based on a Monocular Camera |
| title_short | Mobile Robot Simultaneous Localization and Mapping Based on a Monocular Camera |
| title_sort | mobile robot simultaneous localization and mapping based on a monocular camera |
| url | http://dx.doi.org/10.1155/2016/7630340 |
| work_keys_str_mv | AT songminjia mobilerobotsimultaneouslocalizationandmappingbasedonamonocularcamera AT kewang mobilerobotsimultaneouslocalizationandmappingbasedonamonocularcamera AT xiuzhili mobilerobotsimultaneouslocalizationandmappingbasedonamonocularcamera |