Vision based simultaneous localization and Mapping using sigmapoint particle filter (SPPF-SLAM)

摘要：

one of the most challenging problems in mobile robotic is to localize the robot and simultaneously prepare a map of its environment. In this paper we have used a particle filter to solve SLAM problem in an indoor environment by using stereo vision. We have implemented this method on a mobile robot while navigating in a planar surface among landmarks which were detected by Scale Invariant Feature Transform (SIFT) technique. We have also proposed a novel method based on Sigma Point Particle Filter (SPPF) to solve SLAM problem. Simulation results are compared with the Particle Filter (PF) based SLAM with the same scenario. Finally the experimental results which verify the accuracy and efficiency of our proposed algorithm are presented.

关键词： Mobile Robot Vision SLAM SIFT SPPF

作者: Mona Benhari Alireza Mohamad Shahri

作者单位: School of Electrical and Computer EngineeringQazvin Islamic Azad UniversityQazvin, Iran Electrical Engineering Department Iran University of Science and Technology Tehran, Iran

会议类型: 国际会议

会议名称: 2010 3rd International Conference on Advanced Computer Theory and Engineering(2010年第三届先进计算机理论与工程国际会议 ICACTE 2010)

会议地点: 成都

会议语种:英文

页码: 1-6

在线出版日期: 2010-08-20（万方平台首次上网日期，不代表论文的发表时间）