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

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

2 引用（Scopus）

摘要

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.

源语言	英语
主期刊名	Proceedings of 2018 2nd IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2018
编辑	Bing Xu
出版商	Institute of Electrical and Electronics Engineers Inc.
页	1239-1242
页数	4
ISBN（电子版）	9781538618035
DOI	https://doi.org/10.1109/IMCEC.2018.8469383
出版状态	已出版 - 20 9月 2018
已对外发布	是
活动	2nd IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2018 - Xi'an, 中国期限: 25 5月 2018 → 27 5月 2018

出版系列

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

会议

会议	2nd IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2018
国家/地区	中国
市	Xi'an
时期	25/05/18 → 27/05/18

访问文件

10.1109/IMCEC.2018.8469383

其它文件与链接

链接到 Scopus 的出版物

引用此

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

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

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

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. 在 Xu B, 编辑, Proceedings of 2018 2nd IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2018. Institute of Electrical and Electronics Engineers Inc. 2018. 页码 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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