Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 서일홍 | - |
dc.date.accessioned | 2018-04-16T05:50:24Z | - |
dc.date.available | 2018-04-16T05:50:24Z | - |
dc.date.issued | 2012-06 | - |
dc.identifier.citation | 로봇학회 논문지, 2012, 7(2), P.120-128 | en_US |
dc.identifier.issn | 2287-3961 | - |
dc.identifier.issn | 1975-6291 | - |
dc.identifier.uri | http://db.koreascholar.com/Article?code=240886 | - |
dc.identifier.uri | http://hdl.handle.net/20.500.11754/67991 | - |
dc.description.abstract | The loop closure problem is one of the most challenging issues in the vision-based simultaneous localization and mapping community. It requires the robot to recognize a previously visited place from current camera measurements. While the loop closure often relies on visual bag-of-words based on point features in the previous works, however, in this paper we propose a line-based method to solve the loop closure in the corridor environments. We used both the floor line and the anchored vanishing point as the loop closing feature, and a two-step loop closure algorithm was devised to detect a known place and perform the global pose correction. We propose an anchored vanishing point as a novel loop closure feature, as it includes position information and represents the vanishing points in bi-direction. In our system, the accumulated heading error is reduced using an observation of a previously registered anchored vanishing points firstly, and the observation of known floor lines allows for further pose correction. Experimental results show that our method is very efficient in a structured indoor environment as a suitable loop closure solution. | en_US |
dc.description.sponsorship | 본 연구는 지식경제부 및 정보통신산업진흥원의 로봇 특성화 대학원사업단 지원사업의 연구결과로 수행되었음 (NIPA-2011-C7000-1101-0001) | en_US |
dc.language.iso | ko_KR | en_US |
dc.publisher | 한국로봇학회 | en_US |
dc.subject | Vertical Line | en_US |
dc.subject | Floor Line | en_US |
dc.subject | Anchored Vanishing Point | en_US |
dc.subject | Loop Closure | en_US |
dc.subject | EKF | en_US |
dc.title | 직선기반 SLAM에서의 루프결합 | en_US |
dc.title.alternative | Loop Closure in a Line-based SLAM | en_US |
dc.type | Article | en_US |
dc.relation.no | 2 | - |
dc.relation.volume | 7 | - |
dc.relation.page | 120-128 | - |
dc.relation.journal | 로봇학회 논문지 | - |
dc.contributor.googleauthor | 장국현 | - |
dc.contributor.googleauthor | 서일홍 | - |
dc.relation.code | 2012220695 | - |
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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