Title :
A new approach to map joining for depth-augmented visual SLAM
Author :
Chien-Hung Liu ; Kai-Tai Song
Author_Institution :
Inst. of Electr. Control Eng., Nat. Chiao Tung Univ., Hsinchu, Taiwan
Abstract :
In this paper, a novel scheme is proposed to improve real-time performance of simultaneous localization and mapping (SLAM) of a mobile robot based on depth-augmented visual features. In this design, the robot has two stages in navigation applications, namely the map building stage and the map usage stage. In the map-building stage, a local map is built to join into the global map. For the map-usage stage, instead of using the global map, the local maps facilitate real-time path tracking control of the robot. Using of local maps has the merit of reducing the computational complexity of EKF-SLAM. In the map joining procedure, deviations of adjacent local maps are corrected based on local features. Loop closure detection is used to determine whether the local map building is completed. A Kinect sensor is adopted to realize the proposed method. Navigation experiments on a wheeled mobile robot show that the motion error of robot localization is within 0.1m for a travel over 83m.
Keywords :
SLAM (robots); computational complexity; image sensors; mobile robots; path planning; real-time systems; EKF-SLAM; Kinect sensor; computational complexity; depth augmented visual SLAM; depth augmented visual features; global map; loop closure detection; map building stage; map joining; map joining procedure; map usage stage; mobile robot; navigation applications; real-time path tracking control; real-time performance; robot design; simultaneous localization and mapping; Buildings; Feature extraction; Mobile robots; Robot kinematics; Simultaneous localization and mapping; SLAM; Visual features; mobile robot navigation;
Conference_Titel :
Control Conference (ASCC), 2013 9th Asian
Conference_Location :
Istanbul
Print_ISBN :
978-1-4673-5767-8
DOI :
10.1109/ASCC.2013.6606243