Title :
Loop-closing By Using SIFT Features for Mobile Robots
Author :
Fengda, Zhao ; Lingfu, Kong ; Xianshan, Li
Author_Institution :
Yanshan Univ., Qinhuangdao
Abstract :
To resolve the problem of accumulative error in the real-time loop-closing of SLAM, SIFT features are used to match the visual appearance in the environment. The visually salient regions are selected from an image using Scale Saliency algorithm. Then, the SIFT features extracted from the salient regions in current image are used to match to the possible candidate features. The experiment results show the method is feasible.
Keywords :
SLAM (robots); feature extraction; image matching; mobile robots; transforms; SIFT feature extraction; SLAM; accumulative error problem; image matching; mobile robot; scale invariant feature transform; scale saliency algorithm; Cameras; Educational institutions; Feature extraction; Filters; Information science; Layout; Mobile robots; Navigation; Pixel; Simultaneous localization and mapping; Matching; Mobile Robot; SIFT; SLAM;
Conference_Titel :
Control Conference, 2007. CCC 2007. Chinese
Conference_Location :
Hunan
Print_ISBN :
978-7-81124-055-9
Electronic_ISBN :
978-7-900719-22-5
DOI :
10.1109/CHICC.2006.4347506
