TY - GEN
T1 - Improved simultaneous localization and mapping by stereo camera and SURF
AU - Wang, Ta Chung
AU - Chen, Cheng Hsuan
PY - 2013
Y1 - 2013
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84897742914&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84897742914&partnerID=8YFLogxK
U2 - 10.1109/CACS.2013.6734133
DO - 10.1109/CACS.2013.6734133
M3 - Conference contribution
AN - SCOPUS:84897742914
SN - 9781479923847
T3 - 2013 CACS International Automatic Control Conference, CACS 2013 - Conference Digest
SP - 204
EP - 209
BT - 2013 CACS International Automatic Control Conference, CACS 2013 - Conference Digest
T2 - 2013 CACS International Automatic Control Conference, CACS 2013
Y2 - 2 December 2013 through 4 December 2013
ER -