Using MATLAB as auxiliary tool in visual localization for mobile robots

Shen Ho Liu, Yin Tien Wang, Chen Chien Hsu, Wei Yen Wang, Chiang Heng Chien

研究成果: 書貢獻/報告類型會議論文篇章

摘要

A feature-based visual robot localization algorithm is generally responsible for estimating the robot pose based on features from images using cameras. To address the issues of estimation accuracy and required computational time, an improved visual odometry (VO) system is proposed using direct approach of perspective-3-point (P3P) algorithm as well as map management method. Furthermore, a GUI platform is designed using MATLAB so that performances of the proposed VO system can be easily observed by users. In order to validate the reliability of the proposed system, various experiments are conducted using a binocular camera, where experimental results show that the proposed VO system outperforms conventional algorithms in terms of estimation accuracy and runtime efficiency.

原文英語
主出版物標題2018 International Symposium on Consumer Technologies, ISCT 2018
發行者Institute of Electrical and Electronics Engineers Inc.
頁面24-25
頁數2
ISBN(電子)9781538646151
DOIs
出版狀態已發佈 - 2018 七月 9
事件2018 International Symposium on Consumer Technologies, ISCT 2018 - St. Petersburg, 俄羅斯聯邦
持續時間: 2018 五月 112018 五月 12

出版系列

名字2018 International Symposium on Consumer Technologies, ISCT 2018

會議

會議2018 International Symposium on Consumer Technologies, ISCT 2018
國家/地區俄羅斯聯邦
城市St. Petersburg
期間2018/05/112018/05/12

ASJC Scopus subject areas

  • 電腦網路與通信
  • 電腦視覺和模式識別
  • 工程(雜項)
  • 電腦科學應用

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