Performance Analysis of Optimization Method and Filtering Method for Feature-based Monocular Visual SLAM
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Jeon, Jin-Seok | - |
dc.contributor.author | Kim, Hyo-Joong | - |
dc.contributor.author | Shim, Duk-Sun | - |
dc.date.available | 2019-05-28T03:32:57Z | - |
dc.date.issued | 2019-01 | - |
dc.identifier.issn | 1975-8359 | - |
dc.identifier.issn | 2287-4364 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/cau/handle/2019.sw.cau/18486 | - |
dc.description.abstract | Autonomous mobile robots need SLAM (simultaneous localization and mapping) to look for the location and simultaneously to make the map around the location. In order to achieve visual SLAM, it is necessary to form an algorithm that detects and extracts feature points from camera images, and gets the camera pose and 3D points of the features. In this paper, we propose MPROSAC algorithm which combines MSAC and PROSAC, and compare the performance of optimization method and the filtering method for feature-based monocular visual SLAM. Sparse Bundle Adjustment (SBA) is used for the optimization method and the extended Kalman filter is used for the filtering method. Copyright © The Korean Institute of Electrical Engineers. | - |
dc.format.extent | 7 | - |
dc.language | 한국어 | - |
dc.language.iso | KOR | - |
dc.publisher | Korean Institute of Electrical Engineers | - |
dc.title | Performance Analysis of Optimization Method and Filtering Method for Feature-based Monocular Visual SLAM | - |
dc.title.alternative | 특징점 기반 단안 영상 SLAM의 최적화 기법 및 필터링 기법 성능 분석 | - |
dc.type | Article | - |
dc.identifier.doi | 10.5370/KIEE.2019.68.1.182 | - |
dc.identifier.bibliographicCitation | Transactions of the Korean Institute of Electrical Engineers, v.68, no.1, pp 182 - 188 | - |
dc.identifier.kciid | ART002429319 | - |
dc.description.isOpenAccess | N | - |
dc.identifier.scopusid | 2-s2.0-85061546244 | - |
dc.citation.endPage | 188 | - |
dc.citation.number | 1 | - |
dc.citation.startPage | 182 | - |
dc.citation.title | Transactions of the Korean Institute of Electrical Engineers | - |
dc.citation.volume | 68 | - |
dc.type.docType | Article | - |
dc.publisher.location | 대한민국 | - |
dc.subject.keywordAuthor | Camera image | - |
dc.subject.keywordAuthor | Feature point | - |
dc.subject.keywordAuthor | Kalman filter | - |
dc.subject.keywordAuthor | Monocular SLAM | - |
dc.subject.keywordAuthor | Optimization | - |
dc.subject.keywordAuthor | RANSAC | - |
dc.subject.keywordPlus | Cameras | - |
dc.subject.keywordPlus | Optimization | - |
dc.subject.keywordPlus | Robotics | - |
dc.subject.keywordPlus | Autonomous Mobile Robot | - |
dc.subject.keywordPlus | Camera images | - |
dc.subject.keywordPlus | Feature point | - |
dc.subject.keywordPlus | Monocular SLAM | - |
dc.subject.keywordPlus | Monocular visual SLAM | - |
dc.subject.keywordPlus | RANSAC | - |
dc.subject.keywordPlus | SLAM (simultaneous localization and mapping) | - |
dc.subject.keywordPlus | Sparse bundle adjustments (SBA) | - |
dc.subject.keywordPlus | Kalman filters | - |
dc.description.journalRegisteredClass | scopus | - |
dc.description.journalRegisteredClass | kci | - |
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