DocumentCode
2515062
Title
EKF-SLAM and Machine Learning Techniques for Visual Robot Navigation
Author
Casarrubias-Vargas, H. ; Petrilli-Barceló, A. ; Bayro-Corrochano, E.
Author_Institution
CINVESTAV Unidad Guadalajara, Mexico City, Mexico
fYear
2010
fDate
23-26 Aug. 2010
Firstpage
396
Lastpage
399
Abstract
In this work we propose the use of machine learning techniques to improve Simultaneous Localization and Mapping (SLAM) using an extended Kalman filter (EKF) and visual information for robot navigation. We are using the Viola and Jones approach for looking specific visual landmarks in environment. The landmarks are used to improve the robot localization in the EKF-SLAM system. Our experiments validate the efficiency of our algorithm.
Keywords
Kalman filters; SLAM (robots); learning (artificial intelligence); path planning; robot vision; EKF-SLAM; extended Kalman filter; machine learning; simultaneous localization and mapping; visual robot navigation; Cameras; Robot vision systems; Simultaneous localization and mapping; Stereo vision; Three dimensional displays; Uncertainty; EKF; SLAM; tracking;
fLanguage
English
Publisher
ieee
Conference_Titel
Pattern Recognition (ICPR), 2010 20th International Conference on
Conference_Location
Istanbul
ISSN
1051-4651
Print_ISBN
978-1-4244-7542-1
Type
conf
DOI
10.1109/ICPR.2010.105
Filename
5597815
Link To Document