Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 서일홍 | - |
dc.date.accessioned | 2018-04-16T05:51:13Z | - |
dc.date.available | 2018-04-16T05:51:13Z | - |
dc.date.issued | 2012-06 | - |
dc.identifier.citation | INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2012, 10(3), P.547-557 | en_US |
dc.identifier.issn | 1598-6446 | - |
dc.identifier.issn | 2005-4092 | - |
dc.identifier.uri | http://link.springer.com/article/10.1007%2Fs12555-012-0311-y | - |
dc.identifier.uri | http://hdl.handle.net/20.500.11754/67992 | - |
dc.description.abstract | In this paper, we propose a vertical and floor line-based monocular simultaneous localization and mapping (SLAM) system which utilizes vertical lines, floor lines, and vanishing points as sensory input to perform robust SLAM in corridor environments. By combining three map feature types, our design can help a robot to perform accurate pose estimation, repeatable loop closure, and to construct a more expressive environmental map. As a primitive element of a geometric structure, a line segment has one additional dimension compared to a point feature, thereby allowing the use of line segments to easily represent a geometric structure using a smaller number of features. This system presents map features on a 2D ground space: the vertical line as a projection point, the floor line as the original line, and the vanishing point as a directional vector. Although the vertical line, floor line, and vanishing point use different parameterization and initialization methods, their measurement models are integrated into a unified extended Kalman filter (EKF) framework. Experimental results show that our system can be deployed in a structured indoor environment as a suitable SLAM solution. | en_US |
dc.description.sponsorship | This work was supported by the Global Frontier R&D Program on (Human-centered Interaction for Coexistence) funded by the National Research Foundation of Korea grant funded by the Korean Government (MEST) (NRF-M1AXA003-2011-0028353). | en_US |
dc.language.iso | en | en_US |
dc.publisher | INST CONTROL ROBOTICS & SYSTEMS | en_US |
dc.subject | EKF | en_US |
dc.subject | floor line | en_US |
dc.subject | monocular SLAM | en_US |
dc.subject | vanishing point | en_US |
dc.subject | vertical line | en_US |
dc.title | A Vertical and Floor Line-based Monocular SLAM System for Corridor Environments | en_US |
dc.type | Article | en_US |
dc.relation.no | 3 | - |
dc.relation.volume | 10 | - |
dc.identifier.doi | 10.1007/s12555-012-0311-y | - |
dc.relation.page | 547-557 | - |
dc.relation.journal | INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS | - |
dc.contributor.googleauthor | Zhang, Guoxuan | - |
dc.contributor.googleauthor | Suh, Il Hong | - |
dc.relation.code | 2012213305 | - |
dc.sector.campus | S | - |
dc.sector.daehak | COLLEGE OF ENGINEERING[S] | - |
dc.sector.department | DEPARTMENT OF ELECTRONIC ENGINEERING | - |
dc.identifier.pid | ihsuh | - |
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