논문

실감교류인체감응솔루션연구단의 주요 논문 성과를 소개합니다.

A Vertical and Floor Line-based Monocular SLAM System for Corridor Environments

A Vertical and Floor Line-based Monocular SLAM System for Corridor Environments
학술지명 International Journal of Control Automation and Systems ISSN 1598-6446
SCI 유무 SCI(E) 게재연월 2012-06 Vol. 10 No. 3
표준화된 순위정보영향력지수 38.59 IF 0.749 Citation 1

A Vertical and Floor Line-based Monocular SLAM System for Corridor Environments
저자 Guoxuan Zhang, IlHong Suh
초록
[n this paper, we propose a vertical and tloor line-based monoclllar simultaneous localization and mapping (SLAM) system which utilizes vertical Iines, tloor lines, and vanishing points as sensory input to perfom1 robllst SLAM in corridor environments. By combining three map featllre types, ollr design can help a robot to perfonn accurate pose estimation, repeatable loop closure, and to constrllct a more expressive environmental map. As a primitive element of a geometric structure, a line segment has one additional dimension compared to a point feature, thereby allowing the use of line segments to easily represent a geometric structllre using a smaller number of features. This system presents map features on a 2D ground space: the vertical line as a projection point, the tloor line as the original line, and the vanishing point as a directional vector. Although the vertical line, tloor line, and vanishing point use different parameterization and initialization methods, their measurement models are integrated into a unified extended Kalman filter (EKF) framework. Experimental results show that our system can be deployed in a structured indoor environment as a suitable SLAM solution.
keyword EKF, floor line, monocular SLAM, vanishing point, vertical line.

A Vertical and Floor Line-based Monocular SLAM System for Corridor Environments
과제명 생체모방 진화형 학습지능 아키텍쳐 및 Task Skill 학습지능 기술 개발
연구기관 한양대학교 연구책임자 서일홍