DocumentCode :
2652545
Title :
Multi-scale matching for data association in vision-based SLAM
Author :
Chen, Lei ; Pei, Mingtao ; Yang, Jiaolong
Author_Institution :
Beijing Lab. of Intell. Inf. Technol., Beijing Inst. of Technol., Beijing, China
fYear :
2010
fDate :
14-18 Dec. 2010
Firstpage :
1183
Lastpage :
1188
Abstract :
In this paper, we propose a multi-scale matching approach to address the data association problem in vision-based simultaneous localization and mapping (SLAM). Data association in vision-based SLAM can be simply represented as a feature correspondence problem related to two features observed in different positions under different imaging conditions. We apply an improved Harris detector to automatically extract feature points with high localization accuracy. The scale space in frequency domain is built by introducing the Log-Gabor filter under the monogenic signal analysis framework. Reliable correspondence between two features is found and identified over all scales by combining advantages of geometric invariant property in monogenic signal information as well as photometric invariant property in color entropy information. Our approach is able to establish correct data association which is robust to changes in scale, blur, viewpoint, and illumination. Moreover, the cost on map management is reduced by selecting the obtained small number of reliably matched features as visual landmarks. Experiments conducted on a standard benchmark dataset and an office-like indoor environment demonstrate the effectiveness of our approach.
Keywords :
SLAM (robots); feature extraction; sensor fusion; Harris detector; color entropy information; data association; feature point extraction; geometric invariant property; imaging conditions; monogenic signal analysis; monogenic signal information; multiscale matching; simultaneous localization and mapping; vision based SLAM; Detectors; Entropy; Feature extraction; Image color analysis; Pixel; Simultaneous localization and mapping; Visualization;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2010 IEEE International Conference on
Conference_Location :
Tianjin
Print_ISBN :
978-1-4244-9319-7
Type :
conf
DOI :
10.1109/ROBIO.2010.5723496
Filename :
5723496
Link To Document :
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