SLAM for Planar Mobile Robot

Liu Cheng; Wang Junping; Zhang Zhaohui; Bian Xu; Mei Xuesong

doi:10.1109/IMCEC.2018.8469383

SLAM for Planar Mobile Robot

Liu Cheng
, Wang Junping
, Zhang Zhaohui
, Bian Xu
, Mei Xuesong

Xi'an Jiaotong University
Shaanxi Key Laboratory of Intelligent Robots

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

2 Scopus citations

Abstract

F372 faster process speed and higher accuracy of RGB-D SLAM of planar mobile robot, the new method improved the traditional method of ORB feature detection and match based on the image segmentation. Our method considering the features of planar robots, simplify the feature match process and PnP pose transform matrix of neighbor fames. It evaluates the motion planar of robot while SLAM system running, which is used for the optimization and simplification later. Using color images and cooperating depth images, it can easily get the height of each extracted feature points and divide those points in several groups to reduce wrong match and accelerate match speed.

Original language	English
Title of host publication	Proceedings of 2018 2nd IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2018
Editors	Bing Xu
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1239-1242
Number of pages	4
ISBN (Electronic)	9781538618035
DOIs	https://doi.org/10.1109/IMCEC.2018.8469383
State	Published - 20 Sep 2018
Externally published	Yes
Event	2nd IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2018 - Xi'an, China Duration: 25 May 2018 → 27 May 2018

Publication series

Name	Proceedings of 2018 2nd IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2018

Conference

Conference	2nd IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2018
Country/Territory	China
City	Xi'an
Period	25/05/18 → 27/05/18

Keywords

Kinect
RGB-D
Robot
SLAM
computer visual

Access to Document

10.1109/IMCEC.2018.8469383

Cite this

Cheng, L., Junping, W., Zhaohui, Z., Xu, B., & Xuesong, M. (2018). SLAM for Planar Mobile Robot. In B. Xu (Ed.), Proceedings of 2018 2nd IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2018 (pp. 1239-1242). Article 8469383 (Proceedings of 2018 2nd IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IMCEC.2018.8469383

Cheng, Liu ; Junping, Wang ; Zhaohui, Zhang et al. / SLAM for Planar Mobile Robot. Proceedings of 2018 2nd IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2018. editor / Bing Xu. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 1239-1242 (Proceedings of 2018 2nd IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2018).

@inproceedings{297ba13f8d51464898aac8a66378e940,

title = "SLAM for Planar Mobile Robot",

abstract = "F372 faster process speed and higher accuracy of RGB-D SLAM of planar mobile robot, the new method improved the traditional method of ORB feature detection and match based on the image segmentation. Our method considering the features of planar robots, simplify the feature match process and PnP pose transform matrix of neighbor fames. It evaluates the motion planar of robot while SLAM system running, which is used for the optimization and simplification later. Using color images and cooperating depth images, it can easily get the height of each extracted feature points and divide those points in several groups to reduce wrong match and accelerate match speed.",

keywords = "Kinect, RGB-D, Robot, SLAM, computer visual",

author = "Liu Cheng and Wang Junping and Zhang Zhaohui and Bian Xu and Mei Xuesong",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2nd IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2018 ; Conference date: 25-05-2018 Through 27-05-2018",

year = "2018",

month = sep,

day = "20",

doi = "10.1109/IMCEC.2018.8469383",

language = "英语",

series = "Proceedings of 2018 2nd IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1239--1242",

editor = "Bing Xu",

booktitle = "Proceedings of 2018 2nd IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2018",

}

Cheng, L, Junping, W, Zhaohui, Z, Xu, B & Xuesong, M 2018, SLAM for Planar Mobile Robot. in B Xu (ed.), Proceedings of 2018 2nd IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2018., 8469383, Proceedings of 2018 2nd IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2018, Institute of Electrical and Electronics Engineers Inc., pp. 1239-1242, 2nd IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2018, Xi'an, China, 25/05/18. https://doi.org/10.1109/IMCEC.2018.8469383

SLAM for Planar Mobile Robot. / Cheng, Liu; Junping, Wang; Zhaohui, Zhang et al.
Proceedings of 2018 2nd IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2018. ed. / Bing Xu. Institute of Electrical and Electronics Engineers Inc., 2018. p. 1239-1242 8469383 (Proceedings of 2018 2nd IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2018).

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

TY - GEN

T1 - SLAM for Planar Mobile Robot

AU - Cheng, Liu

AU - Junping, Wang

AU - Zhaohui, Zhang

AU - Xu, Bian

AU - Xuesong, Mei

PY - 2018/9/20

Y1 - 2018/9/20

N2 - F372 faster process speed and higher accuracy of RGB-D SLAM of planar mobile robot, the new method improved the traditional method of ORB feature detection and match based on the image segmentation. Our method considering the features of planar robots, simplify the feature match process and PnP pose transform matrix of neighbor fames. It evaluates the motion planar of robot while SLAM system running, which is used for the optimization and simplification later. Using color images and cooperating depth images, it can easily get the height of each extracted feature points and divide those points in several groups to reduce wrong match and accelerate match speed.

AB - F372 faster process speed and higher accuracy of RGB-D SLAM of planar mobile robot, the new method improved the traditional method of ORB feature detection and match based on the image segmentation. Our method considering the features of planar robots, simplify the feature match process and PnP pose transform matrix of neighbor fames. It evaluates the motion planar of robot while SLAM system running, which is used for the optimization and simplification later. Using color images and cooperating depth images, it can easily get the height of each extracted feature points and divide those points in several groups to reduce wrong match and accelerate match speed.

KW - Kinect

KW - RGB-D

KW - Robot

KW - SLAM

KW - computer visual

UR - https://www.scopus.com/pages/publications/85055727711

U2 - 10.1109/IMCEC.2018.8469383

DO - 10.1109/IMCEC.2018.8469383

M3 - 会议稿件

AN - SCOPUS:85055727711

T3 - Proceedings of 2018 2nd IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2018

SP - 1239

EP - 1242

BT - Proceedings of 2018 2nd IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2018

A2 - Xu, Bing

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2nd IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2018

Y2 - 25 May 2018 through 27 May 2018

ER -

Cheng L, Junping W, Zhaohui Z, Xu B, Xuesong M. SLAM for Planar Mobile Robot. In Xu B, editor, Proceedings of 2018 2nd IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 1239-1242. 8469383. (Proceedings of 2018 2nd IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2018). doi: 10.1109/IMCEC.2018.8469383

SLAM for Planar Mobile Robot

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