Title :
An improved visual SLAM algorithm based on mixed data association
Author :
Wen, Feng ; Chai, Xiaojie ; Li, Yuan ; Zou, Wei ; Yuan, Kui ; Chen, Peng
Author_Institution :
Inst. of Autom., Chinese Acad. of Sci., Beijing, China
Abstract :
Making use of a novel artificial landmark which is called MR (Mobile Robot) code, on the basis of analysis of the motion model and observation model, an improved visual SLAM algorithm based on mixed data association is presented, which improves the localization precision of the robot and the map accuracy. Experimental results verify the effectiveness and robustness of the algorithm.
Keywords :
SLAM (robots); artificial intelligence; mobile robots; motion control; robot vision; artificial landmark; improved visual SLAM algorithm; map accuracy; mixed data association; mobile robot; motion model; observation model; robot localization precision; Algorithm design and analysis; Analytical models; Automation; Data models; Silicon; Simultaneous localization and mapping; Visualization; SLAM; artificial landmark; data association; extended Kalman filter;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2011 9th World Congress on
Conference_Location :
Taipei
Print_ISBN :
978-1-61284-698-9
DOI :
10.1109/WCICA.2011.5970683
