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
- 2012.6
- 수록면
- 120 - 128 (9page)
이용수
초록· 키워드
오류제보하기
The loop closure problem is one of the most challenging issues in the vision-based simultaneous localization and mapping community. It requires the robot to recognize a previously visited place from current camera measurements. While the loop closure often relies on visual bag-of-words based on point features in the previous works, however, in this paper we propose a line-based method to solve the loop closure in the corridor environments. We used both the floor line and the anchored vanishing point as the loop closing feature, and a two-step loop closure algorithm was devised to detect a known place and perform the global pose correction. We propose an anchored vanishing point as a novel loop closure feature, as it includes position information and represents the vanishing points in bi-direction. In our system, the accumulated heading error is reduced using an observation of a previously registered anchored vanishing points firstly, and the observation of known floor lines allows for further pose correction. Experimental results show that our method is very efficient in a structured indoor environment as a suitable loop closure solution.
목차
Abstract
1. 서론
2. 수직직선과 바닥직선
3. Anchored Vanishing Point
4. EKF-SLAM과 루프결합
5. 실험 결과
6. 결론
참고문헌
참고문헌 (17)
참고문헌 신청
1. [학술지(정기간행물)] - A. Angeli / 2008 / Fast and incremental method for loop-closure detection using bags of visual words / IEEE Transactions on Robotics 24 (5) : 1027 ~ 1037
2. [학술대회논문] - M. Cummins / 2009 / Highly scalable appearance-only SLAM - FAB-MAP 2.0 / In Proceedings of Robotics: Science and Systems (RSS)
3. [학술대회논문] - P. Smith / 2006 / Real-time monocular SLAM with straight lines / in British Machine Vision Conference 1 : 17 ~ 26
4. [학술대회논문] - A. P. Gee / 2006 / Real-Time Model-Based SLAM Using Line Segments / in 2nd International Symposium on Visual Computing
5. [학술대회논문] - T. Lemaire / 2007 / Monocular-vision based SLAM using line segments / in Proc. of IEEE International Conference on Robotics and Automation : 2791 ~ 2796
2. [학술대회논문] - M. Cummins / 2009 / Highly scalable appearance-only SLAM - FAB-MAP 2.0 / In Proceedings of Robotics: Science and Systems (RSS)
3. [학술대회논문] - P. Smith / 2006 / Real-time monocular SLAM with straight lines / in British Machine Vision Conference 1 : 17 ~ 26
4. [학술대회논문] - A. P. Gee / 2006 / Real-Time Model-Based SLAM Using Line Segments / in 2nd International Symposium on Visual Computing
5. [학술대회논문] - T. Lemaire / 2007 / Monocular-vision based SLAM using line segments / in Proc. of IEEE International Conference on Robotics and Automation : 2791 ~ 2796
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UCI(KEPA) : I410-ECN-0101-2020-559-001258991