Improved simultaneous localization and mapping by stereo camera and SURF

Ta-Chung Wang, Cheng Hsuan Chen

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publication2013 CACS International Automatic Control Conference, CACS 2013 - Conference Digest
Pages204-209
Number of pages6
DOIs
Publication statusPublished - 2013 Dec 1
Event2013 CACS International Automatic Control Conference, CACS 2013 - Nantou, Taiwan
Duration: 2013 Dec 22013 Dec 4

Publication series

Name2013 CACS International Automatic Control Conference, CACS 2013 - Conference Digest

Other

Other2013 CACS International Automatic Control Conference, CACS 2013
CountryTaiwan
CityNantou
Period13-12-0213-12-04

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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