An improved visual SLAM algorithm based on mixed data association

Feng Wen; Xiaojie Chai; Yuan Li; Wei Zou; Kui Yuan; Peng Chen

doi:10.1109/WCICA.2011.5970683

An improved visual SLAM algorithm based on mixed data association

Feng Wen^*, Xiaojie Chai, Yuan Li, Wei Zou, Kui Yuan, Peng Chen

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Citations (Scopus)

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.

Original language	English
Title of host publication	WCICA 2011 - 2011 World Congress on Intelligent Control and Automation, Conference Digest
Pages	1081-1086
Number of pages	6
DOIs	https://doi.org/10.1109/WCICA.2011.5970683
Publication status	Published - 2011
Externally published	Yes
Event	2011 World Congress on Intelligent Control and Automation, WCICA 2011 - Taipei, Taiwan, Province of China Duration: 21 Jun 2011 → 25 Jun 2011

Publication series

Name	Proceedings of the World Congress on Intelligent Control and Automation (WCICA)

Conference

Conference	2011 World Congress on Intelligent Control and Automation, WCICA 2011
Country/Territory	Taiwan, Province of China
City	Taipei
Period	21/06/11 → 25/06/11

Keywords

SLAM
artificial landmark
data association
extended Kalman filter

Access to Document

10.1109/WCICA.2011.5970683

Cite this

Wen, F., Chai, X., Li, Y., Zou, W., Yuan, K., & Chen, P. (2011). An improved visual SLAM algorithm based on mixed data association. In WCICA 2011 - 2011 World Congress on Intelligent Control and Automation, Conference Digest (pp. 1081-1086). Article 5970683 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA)). https://doi.org/10.1109/WCICA.2011.5970683

@inproceedings{c08c09281cda40c29b4176fc41529f11,

title = "An improved visual SLAM algorithm based on mixed data association",

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, artificial landmark, data association, extended Kalman filter",

author = "Feng Wen and Xiaojie Chai and Yuan Li and Wei Zou and Kui Yuan and Peng Chen",

year = "2011",

doi = "10.1109/WCICA.2011.5970683",

language = "English",

isbn = "9781612847009",

series = "Proceedings of the World Congress on Intelligent Control and Automation (WCICA)",

pages = "1081--1086",

booktitle = "WCICA 2011 - 2011 World Congress on Intelligent Control and Automation, Conference Digest",

note = "2011 World Congress on Intelligent Control and Automation, WCICA 2011 ; Conference date: 21-06-2011 Through 25-06-2011",

}

Wen, F, Chai, X, Li, Y, Zou, W, Yuan, K & Chen, P 2011, An improved visual SLAM algorithm based on mixed data association. in WCICA 2011 - 2011 World Congress on Intelligent Control and Automation, Conference Digest., 5970683, Proceedings of the World Congress on Intelligent Control and Automation (WCICA), pp. 1081-1086, 2011 World Congress on Intelligent Control and Automation, WCICA 2011, Taipei, Taiwan, Province of China, 21/06/11. https://doi.org/10.1109/WCICA.2011.5970683

An improved visual SLAM algorithm based on mixed data association. / Wen, Feng; Chai, Xiaojie; Li, Yuan et al.
WCICA 2011 - 2011 World Congress on Intelligent Control and Automation, Conference Digest. 2011. p. 1081-1086 5970683 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA)).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - An improved visual SLAM algorithm based on mixed data association

AU - Wen, Feng

AU - Chai, Xiaojie

AU - Li, Yuan

AU - Zou, Wei

AU - Yuan, Kui

AU - Chen, Peng

PY - 2011

Y1 - 2011

N2 - 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.

AB - 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.

KW - SLAM

KW - artificial landmark

KW - data association

KW - extended Kalman filter

UR - http://www.scopus.com/inward/record.url?scp=80052413069&partnerID=8YFLogxK

U2 - 10.1109/WCICA.2011.5970683

DO - 10.1109/WCICA.2011.5970683

M3 - Conference contribution

AN - SCOPUS:80052413069

SN - 9781612847009

T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)

SP - 1081

EP - 1086

BT - WCICA 2011 - 2011 World Congress on Intelligent Control and Automation, Conference Digest

T2 - 2011 World Congress on Intelligent Control and Automation, WCICA 2011

Y2 - 21 June 2011 through 25 June 2011

ER -

An improved visual SLAM algorithm based on mixed data association

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this