Feature points selection with flocks of features constraint for visual simultaneous localization and mapping. (22nd December 2016)
- Record Type:
- Journal Article
- Title:
- Feature points selection with flocks of features constraint for visual simultaneous localization and mapping. (22nd December 2016)
- Main Title:
- Feature points selection with flocks of features constraint for visual simultaneous localization and mapping
- Authors:
- Liu, Hong
Wang, Zhi
Chen, Pengjin - Abstract:
- Simultaneous localization and mapping is a crucial problem for mobile robots, which estimates the surrounding environment (the map) and, at the same time, computes the robot location in it. Most researchers working on simultaneous localization and mapping focus on localization accuracy. In visual simultaneous localization and mapping, localization is to calculate the robot's position relative to the landmarks, which corresponds to the feature points in images. Therefore, feature points are of importance to localization accuracy and should be selected carefully. This article proposes a feature point selection method to improve the localization accuracy. First, theoretical and numerical analyses are conducted to demonstrate the importance of distribution of feature points. Then, an algorithm using flocks of features is proposed to select feature points. Experimental results show that the proposed flocks of features selector implemented in visual simultaneous localization and mapping enhances the accuracy of both localization and mapping, verifying the necessity of feature point selection.
- Is Part Of:
- International journal of advanced robotic systems. Volume 14:Number 1(2017:Jan./Feb.)
- Journal:
- International journal of advanced robotic systems
- Issue:
- Volume 14:Number 1(2017:Jan./Feb.)
- Issue Display:
- Volume 14, Issue 1 (2017)
- Year:
- 2017
- Volume:
- 14
- Issue:
- 1
- Issue Sort Value:
- 2017-0014-0001-0000
- Page Start:
- Page End:
- Publication Date:
- 2016-12-22
- Subjects:
- SLAM -- vision based -- feature selection -- flocks of features
Robotics -- Periodicals
Robotics
Periodicals
629.892 - Journal URLs:
- http://arx.sagepub.com/ ↗
http://search.epnet.com/direct.asp?db=bch&jid=13CR&scope=site ↗
http://www.intechweb.org/journal.php?id=3 ↗
http://www.uk.sagepub.com/home.nav ↗ - DOI:
- 10.1177/1729881416666784 ↗
- Languages:
- English
- ISSNs:
- 1729-8806
- Deposit Type:
- Legaldeposit
- View Content:
- Available online (eLD content is only available in our Reading Rooms) ↗
- Physical Locations:
- British Library DSC - BLDSS-3PM
British Library HMNTS - ELD Digital store - Ingest File:
- 7254.xml