DocumentCode
1655213
Title
Loop-closing By Using SIFT Features for Mobile Robots
Author
Fengda, Zhao ; Lingfu, Kong ; Xianshan, Li
Author_Institution
Yanshan Univ., Qinhuangdao
fYear
2007
Firstpage
221
Lastpage
224
Abstract
To resolve the problem of accumulative error in the real-time loop-closing of SLAM, SIFT features are used to match the visual appearance in the environment. The visually salient regions are selected from an image using Scale Saliency algorithm. Then, the SIFT features extracted from the salient regions in current image are used to match to the possible candidate features. The experiment results show the method is feasible.
Keywords
SLAM (robots); feature extraction; image matching; mobile robots; transforms; SIFT feature extraction; SLAM; accumulative error problem; image matching; mobile robot; scale invariant feature transform; scale saliency algorithm; Cameras; Educational institutions; Feature extraction; Filters; Information science; Layout; Mobile robots; Navigation; Pixel; Simultaneous localization and mapping; Matching; Mobile Robot; SIFT; SLAM;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference, 2007. CCC 2007. Chinese
Conference_Location
Hunan
Print_ISBN
978-7-81124-055-9
Electronic_ISBN
978-7-900719-22-5
Type
conf
DOI
10.1109/CHICC.2006.4347506
Filename
4347506
Link To Document