지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2011.2
- 수록면
- 93 - 101 (9page)
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초록· 키워드
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For mobile robot, recognizing its current location is very important to navigate autonomously. Especially, loop closing detection that robot recognize location where it has visited before is a kernel problem to solve localization. A considerable amount of research has been conducted on loop closing detection and localization based on appearance because vision sensor has an advantage in terms of costs and various approaching methods to solve this problem. In case of scenes that consist of repeated structures like in corridors, perceptual aliasing in which, the two different locations are recognized as the same, occurs frequently. In this paper, we propose an improved method to recognize location in the scenes which have similar structures. We extracted salient regions from images using visual attention model and calculated weights using distinctive features in the salient region. It makes possible to emphasize unique features in the scene to classify similar-looking locations. In the results of corridor recognition experiments, proposed method showed improved recognition performance. It shows 78.2% in the accuracy of single floor corridor recognition and 71.5% for multi floor corridors recognition.
목차
Abstract
Ⅰ. 서론
Ⅱ. 위치인식 프로세스 구성
Ⅲ. 실험 및 결과
Ⅳ. 결론
참고문헌
참고문헌 (14)
참고문헌 신청
1. [학술대회논문] - P. Newman / 2005 / SLAM-loop closing with visually salient features / IEEE International Conference on Robotics and Automation : 635 ~ 642
2. [학술지(정기간행물)] - D. C. K. Yuen / 2005 / Vision-based localization algorithm based on landmark matching, triangulation, reconstruction and comparison / IEEE Transactions on Robotics 21 (2) : 217 ~ 226
3. [학술대회논문] - J. Civera / 2009 / 1-point RANSAC for EKF-based structure from motion / Proc. of the IEEE/RSJ Conference on Intelligent Robots and Systems : 3498 ~ 3504
4. [학술지(정기간행물)] - A. J. Davison / 2007 / MonoSLAM: real-time single camera SLAM / IEEE Trans. on Pattern Analysis and Machine Intelligence 29 (6) : 1052 ~ 1067
5. [학술지(정기간행물)] - M. Cummins / 2008 / FAB-MAP: Probabilistic Localization and mapping in the space of appearance / The International Journal of Robotics Research 27 (6) : 647 ~ 665
2. [학술지(정기간행물)] - D. C. K. Yuen / 2005 / Vision-based localization algorithm based on landmark matching, triangulation, reconstruction and comparison / IEEE Transactions on Robotics 21 (2) : 217 ~ 226
3. [학술대회논문] - J. Civera / 2009 / 1-point RANSAC for EKF-based structure from motion / Proc. of the IEEE/RSJ Conference on Intelligent Robots and Systems : 3498 ~ 3504
4. [학술지(정기간행물)] - A. J. Davison / 2007 / MonoSLAM: real-time single camera SLAM / IEEE Trans. on Pattern Analysis and Machine Intelligence 29 (6) : 1052 ~ 1067
5. [학술지(정기간행물)] - M. Cummins / 2008 / FAB-MAP: Probabilistic Localization and mapping in the space of appearance / The International Journal of Robotics Research 27 (6) : 647 ~ 665
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UCI(KEPA) : I410-ECN-0101-2014-569-001238090