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
- 학술대회자료
- 저자정보
- 발행연도
- 2013.10
- 수록면
- 1,108 - 1,113 (6page)
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초록· 키워드
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This paper deals with slippage detection and pose recovery during the SLAM process of mobile robot navigation. Mobile robots do not have a successful solution to recover when localization fails due to slippage. Unexpected inputs such as wheel slippage lead to false prediction during the SLAM process. In this paper, minimizing the risk of localization failure is proposed by applying optical flow to the ceiling image sequences as a slippage detector. The optical flow-based motion estimation results are applied to the prediction step of EKF-SLAM. Using optical flow, we can calculate a homogenous 2D affine transformation matrix. From this matrix we can calculate the relative pose between the two frames. The reliable motion estimation from the vision sensor enables slip detection during the prediction phase of EKF SLAM. The proposed method was successfully verified by several experiments with deliberate slippage in real environments.
목차
Abstract
1. INTRODUCTION
2. OPTICAL FLOW BASED MOTION ESTIMATION
3. SLIPPAGE DETECTION
4. EKF-SLAM WITH ROBUST PREDICTION
5. EXPERIMENTAL RESULTS
6. CONCLUSION
REFERENCES
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