Improved simultaneous localization and mapping by stereo camera and SURF

Ta-Chung Wang; Cheng Hsuan Chen

doi:10.1109/CACS.2013.6734133

Improved simultaneous localization and mapping by stereo camera and SURF

Ta-Chung Wang, Cheng Hsuan Chen

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Citations (Scopus)

Abstract

Simultaneous Localization and Mapping (SLAM) has been an active area of research lately. MonoSLAM is a SLAM frame working with a single camera without odometry information for executing SLAM The camera motion estimation and incremental map building from new landmarks are computed using the Extended Kalman Filter framework In this paper, we propose a revised approach to improve the speed of executing SLAM. We use a stereo camera to acquire two images of the environment at the same time, and use SURF algorithm to detect features in the images. The distance between the landmark and the camera can be calculated by the pair of images using a revised algorithm. Using this approach, we can reduce the time of distance calculation and increase the SLAM execution speed.

Original language	English
Title of host publication	2013 CACS International Automatic Control Conference, CACS 2013 - Conference Digest
Pages	204-209
Number of pages	6
DOIs	https://doi.org/10.1109/CACS.2013.6734133
Publication status	Published - 2013 Dec 1
Event	2013 CACS International Automatic Control Conference, CACS 2013 - Nantou, Taiwan Duration: 2013 Dec 2 → 2013 Dec 4

Publication series

Name	2013 CACS International Automatic Control Conference, CACS 2013 - Conference Digest

Other

Other	2013 CACS International Automatic Control Conference, CACS 2013
Country	Taiwan
City	Nantou
Period	13-12-02 → 13-12-04

All Science Journal Classification (ASJC) codes

Control and Systems Engineering

Access to Document

10.1109/CACS.2013.6734133

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Cite this

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title = "Improved simultaneous localization and mapping by stereo camera and SURF",

abstract = "Simultaneous Localization and Mapping (SLAM) has been an active area of research lately. MonoSLAM is a SLAM frame working with a single camera without odometry information for executing SLAM The camera motion estimation and incremental map building from new landmarks are computed using the Extended Kalman Filter framework In this paper, we propose a revised approach to improve the speed of executing SLAM. We use a stereo camera to acquire two images of the environment at the same time, and use SURF algorithm to detect features in the images. The distance between the landmark and the camera can be calculated by the pair of images using a revised algorithm. Using this approach, we can reduce the time of distance calculation and increase the SLAM execution speed.",

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Wang, T-C & Chen, CH 2013, Improved simultaneous localization and mapping by stereo camera and SURF. in 2013 CACS International Automatic Control Conference, CACS 2013 - Conference Digest., 6734133, 2013 CACS International Automatic Control Conference, CACS 2013 - Conference Digest, pp. 204-209, 2013 CACS International Automatic Control Conference, CACS 2013, Nantou, Taiwan, 13-12-02. https://doi.org/10.1109/CACS.2013.6734133

Improved simultaneous localization and mapping by stereo camera and SURF. / Wang, Ta-Chung; Chen, Cheng Hsuan.

2013 CACS International Automatic Control Conference, CACS 2013 - Conference Digest. 2013. p. 204-209 6734133 (2013 CACS International Automatic Control Conference, CACS 2013 - Conference Digest).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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