TY - GEN
T1 - Extended strong tracking filter SLAM algorithm
AU - Wen, Feng
AU - Chai, Xiaojie
AU - Li, Yuan
AU - Zou, Wei
AU - Yuan, Kui
PY - 2011
Y1 - 2011
N2 - Simultaneous Localization and Mapping (SLAM) is a key issue in robotics community. This paper presents a monocular vision and odometer based SLAM algorithm, making use of a novel artificial landmark which is called MR (Mobile Robot) code. During robot motion, the information from visual observations is fused with that from the odometer by Extended Strong Tracking Filter (STF), which can construct highly accurate maps and locate the robot more accurately than EKF. A new calculation method of suboptimal multiple fading factors is proposed which overcomes the problem of discontinuous observation in normal STF SLAM. Actual experiments are carried out in indoor environment, which shows that the proposed algorithm has improved the localization precision of the robot and the map accuracy.
AB - Simultaneous Localization and Mapping (SLAM) is a key issue in robotics community. This paper presents a monocular vision and odometer based SLAM algorithm, making use of a novel artificial landmark which is called MR (Mobile Robot) code. During robot motion, the information from visual observations is fused with that from the odometer by Extended Strong Tracking Filter (STF), which can construct highly accurate maps and locate the robot more accurately than EKF. A new calculation method of suboptimal multiple fading factors is proposed which overcomes the problem of discontinuous observation in normal STF SLAM. Actual experiments are carried out in indoor environment, which shows that the proposed algorithm has improved the localization precision of the robot and the map accuracy.
KW - SLAM
KW - artificial landmark
KW - mobile robot
KW - strong tracking filter
UR - http://www.scopus.com/inward/record.url?scp=81055124265&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2011.5985800
DO - 10.1109/ICMA.2011.5985800
M3 - Conference contribution
AN - SCOPUS:81055124265
SN - 9781424481149
T3 - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
SP - 1021
EP - 1026
BT - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
T2 - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
Y2 - 7 August 2011 through 10 August 2011
ER -