Graph SLAM for AGV using geometrical arrangement based on lamp and SURF features in a factory environment

Minkuk Jung, Jae-Bok Song

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

In this study, we propose a method to extract features for graph SLAM using an upward-looking camera mounted in an automated guided vehicle (AGV) in a factory environment. To this end, a novel feature detector and descriptor GALS (geometrical arrangement based on lamps and SURF) is proposed in this study. This algorithm consists of two parts: 1) geometrical arrangement of SURF features around a lamp that is often observed in a factory environment; and 2) a SURF descriptor. The use of the geometrical arrangement of several SURF features provides a more distinguishable feature than the use of a single SURF feature, and thus it can be robustly used for feature matching. As a result of GALS-based graph SLAM, a graph is created and optimized through a Georgia Tech Smoothing and Mapping Library (GTSAM) tool so that the accumulated error due to the slip is minimized. A series of experiments in indoor factory environments showed that the proposed scheme resulted in reliable navigation.

Original languageEnglish
Title of host publicationICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings
PublisherIEEE Computer Society
Pages844-848
Number of pages5
ISBN (Electronic)9788993215120
DOIs
Publication statusPublished - 2017 Jan 24
Event16th International Conference on Control, Automation and Systems, ICCAS 2016 - Gyeongju, Korea, Republic of
Duration: 2016 Oct 162016 Oct 19

Other

Other16th International Conference on Control, Automation and Systems, ICCAS 2016
CountryKorea, Republic of
CityGyeongju
Period16/10/1616/10/19

Keywords

  • factory environments
  • monocular SLAM
  • upward-looking camera
  • Visual features

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Jung, M., & Song, J-B. (2017). Graph SLAM for AGV using geometrical arrangement based on lamp and SURF features in a factory environment. In ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings (pp. 844-848). [7832411] IEEE Computer Society. https://doi.org/10.1109/ICCAS.2016.7832411