An Improved Extended Information Filter SLAM Algorithm Based on Omnidirectional Vision
In the SLAM application, omnidirectional vision extracts wide scale information and more features from environments. Traditional algorithms bring enormous computational complexity to omnidirectional vision SLAM. An improved extended information filter SLAM algorithm based on omnidirectional vision i...
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| Format: | Article |
| Language: | English |
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Wiley
2014-01-01
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| Series: | Journal of Applied Mathematics |
| Online Access: | http://dx.doi.org/10.1155/2014/948505 |
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| author | Jingchuan Wang Weidong Chen |
| author_facet | Jingchuan Wang Weidong Chen |
| author_sort | Jingchuan Wang |
| collection | DOAJ |
| description | In the SLAM application, omnidirectional vision extracts wide scale information and more features from environments. Traditional algorithms bring enormous computational complexity to omnidirectional vision SLAM. An improved extended information filter SLAM algorithm based on omnidirectional vision is presented in this paper. Based on the analysis of structure a characteristics of the information matrix, this algorithm improves computational efficiency. Considering the characteristics of omnidirectional images, an improved sparsification rule is also proposed. The sparse observation information has been utilized and the strongest global correlation has been maintained. So the accuracy of the estimated result is ensured by using proper sparsification of the information matrix. Then, through the error analysis, the error caused by sparsification can be eliminated by a relocation method. The results of experiments show that this method makes full use of the characteristic of repeated observations for landmarks in omnidirectional vision and maintains great efficiency and high reliability in mapping and localization. |
| format | Article |
| id | doaj-art-e66e45cf94cb4559ad21498a0711eef0 |
| institution | Kabale University |
| issn | 1110-757X 1687-0042 |
| language | English |
| publishDate | 2014-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Applied Mathematics |
| spelling | doaj-art-e66e45cf94cb4559ad21498a0711eef02025-02-03T06:12:23ZengWileyJournal of Applied Mathematics1110-757X1687-00422014-01-01201410.1155/2014/948505948505An Improved Extended Information Filter SLAM Algorithm Based on Omnidirectional VisionJingchuan Wang0Weidong Chen1Department of Automation, Key Laboratory of System Control and Information Processing, Shanghai Jiao Tong University, Ministry of Education of China, Shanghai 200240, ChinaDepartment of Automation, Key Laboratory of System Control and Information Processing, Shanghai Jiao Tong University, Ministry of Education of China, Shanghai 200240, ChinaIn the SLAM application, omnidirectional vision extracts wide scale information and more features from environments. Traditional algorithms bring enormous computational complexity to omnidirectional vision SLAM. An improved extended information filter SLAM algorithm based on omnidirectional vision is presented in this paper. Based on the analysis of structure a characteristics of the information matrix, this algorithm improves computational efficiency. Considering the characteristics of omnidirectional images, an improved sparsification rule is also proposed. The sparse observation information has been utilized and the strongest global correlation has been maintained. So the accuracy of the estimated result is ensured by using proper sparsification of the information matrix. Then, through the error analysis, the error caused by sparsification can be eliminated by a relocation method. The results of experiments show that this method makes full use of the characteristic of repeated observations for landmarks in omnidirectional vision and maintains great efficiency and high reliability in mapping and localization.http://dx.doi.org/10.1155/2014/948505 |
| spellingShingle | Jingchuan Wang Weidong Chen An Improved Extended Information Filter SLAM Algorithm Based on Omnidirectional Vision Journal of Applied Mathematics |
| title | An Improved Extended Information Filter SLAM Algorithm Based on Omnidirectional Vision |
| title_full | An Improved Extended Information Filter SLAM Algorithm Based on Omnidirectional Vision |
| title_fullStr | An Improved Extended Information Filter SLAM Algorithm Based on Omnidirectional Vision |
| title_full_unstemmed | An Improved Extended Information Filter SLAM Algorithm Based on Omnidirectional Vision |
| title_short | An Improved Extended Information Filter SLAM Algorithm Based on Omnidirectional Vision |
| title_sort | improved extended information filter slam algorithm based on omnidirectional vision |
| url | http://dx.doi.org/10.1155/2014/948505 |
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