Performance improvement in VSLAM using stabilized feature points

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Şahin, Caner and Ünel, Mustafa (2013) Performance improvement in VSLAM using stabilized feature points. Mathematical and Computational Applications, 18 (3). pp. 361-372. ISSN 1300-686X

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Simultaneous localization and mapping (SLAM) is the main prerequisite for the autonomy of a mobile robot. In this paper, we present a novel method that enhances the consistency of the map using stabilized corner features. The proposed method integrates template matching based video stabilization and Harris corner detector. Extracting Harris corner features from stabilized video consistently increases the accuracy of the localization. Data coming from a video camera and odometry are fused in an Extended Kalman Filter (EKF) to determine the pose of the robot and build the map of the environment. Simulation results validate the performance improvement obtained by the proposed technique.

Item Type:Article
Uncontrolled Keywords:vSLAM, Video stabilization, Feature extraction, Extended Kalman Filter
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
T Technology > TJ Mechanical engineering and machinery > TJ163.12 Mechatronics
ID Code:22639
Deposited By:Mustafa Ünel
Deposited On:22 Jan 2014 12:39
Last Modified:01 Aug 2019 12:52

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