DocumentCode
2554189
Title
An improved visual SLAM algorithm based on mixed data association
Author
Wen, Feng ; Chai, Xiaojie ; Li, Yuan ; Zou, Wei ; Yuan, Kui ; Chen, Peng
Author_Institution
Inst. of Autom., Chinese Acad. of Sci., Beijing, China
fYear
2011
fDate
21-25 June 2011
Firstpage
1081
Lastpage
1086
Abstract
Making use of a novel artificial landmark which is called MR (Mobile Robot) code, on the basis of analysis of the motion model and observation model, an improved visual SLAM algorithm based on mixed data association is presented, which improves the localization precision of the robot and the map accuracy. Experimental results verify the effectiveness and robustness of the algorithm.
Keywords
SLAM (robots); artificial intelligence; mobile robots; motion control; robot vision; artificial landmark; improved visual SLAM algorithm; map accuracy; mixed data association; mobile robot; motion model; observation model; robot localization precision; Algorithm design and analysis; Analytical models; Automation; Data models; Silicon; Simultaneous localization and mapping; Visualization; SLAM; artificial landmark; data association; extended Kalman filter;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control and Automation (WCICA), 2011 9th World Congress on
Conference_Location
Taipei
Print_ISBN
978-1-61284-698-9
Type
conf
DOI
10.1109/WCICA.2011.5970683
Filename
5970683
Link To Document