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
- 저널정보
- Korean Society for Precision Engineering Journal of the Korean Society for Precision Engineering 한국정밀공학회지 Vol.30 No.2
- 발행연도
- 2013.2
- 수록면
- 177 - 184 (8page)
이용수
초록· 키워드
오류제보하기
This paper proposes an enhanced Simultaneous Localization and Mapping (SLAM) algorithm based on matching laser image and Extended Kalman Filter (EKF). In general, laser information is one of the most efficient data for localization of mobile robots and is more accurate than encoder data. For localization of a mobile robot, moving distance information of a robot is often obtained by encoders and distance information from the robot to landmarks is estimated by various sensors. Though encoder has high resolution, it is difficult to estimate current position of a robot precisely because of encoder error caused by slip and backlash of wheels. In this paper, the position and angle of the robot are estimated by comparing laser images obtained from laser scanner with high accuracy. In addition, Speeded Up Robust Features (SURF) is used for extracting feature points at previous laser image and current laser image by comparing feature points. As a result, the moving distance and heading angle are obtained based on information of available points. The experimental results using the proposed laser slam algorithm show effectiveness for the SLAM of robot.
목차
1. 서론
2. SLAM 관련 기존 연구
3. 제안된 레이저 영상 SLAM
4. 실험
5. 결론
후기
참고문헌
참고문헌 (11)
참고문헌 신청
Tsai, C. -C. / 1998 / A localization system of a mobile robot by fusing dead-reckoning and ultrasonic measurements / IEEE Transaction on Industrial Electronics 47(5):1399~1404
Borenstein, J. / 1996 / Measurement and correction of systematic odometry errors in mobile robots / IEEE Transaction on Robotics and Automation 12:869~880
Bleser, G. / 2009 / Advanced tracking through efficient image processing and visual-inertial sensor fusion / Journal of Computer and Graphics 33(1):59~72
Lo, D. / 2004 / Robust joint audio-video localization in video conferencing using reliability information / IEEE Transactions on Instrumentation and Measurement 53(4):1132~1139
Krammer, P. / 2006 / Localization of object edges in arbitrary spatial positions based on ultrasonic data / IEEE Sensors Journal 6(1):203~210
Borenstein, J. / 1996 / Measurement and correction of systematic odometry errors in mobile robots / IEEE Transaction on Robotics and Automation 12:869~880
Bleser, G. / 2009 / Advanced tracking through efficient image processing and visual-inertial sensor fusion / Journal of Computer and Graphics 33(1):59~72
Lo, D. / 2004 / Robust joint audio-video localization in video conferencing using reliability information / IEEE Transactions on Instrumentation and Measurement 53(4):1132~1139
Krammer, P. / 2006 / Localization of object edges in arbitrary spatial positions based on ultrasonic data / IEEE Sensors Journal 6(1):203~210
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UCI(KEPA) : I410-ECN-0101-2014-555-000451806