Illumination change compensation and extraction of corner feature orientation for upward-looking camera-based SLAM

Chansoo Park, Jae Bok Song

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

6 Citations (Scopus)

Abstract

In this paper, the improved upward-looking camera based SLAM is proposed. With the corner features that are highly robust to the illumination change and contain their orientation information, SLAM performance can improve effectively. The illumination properties from the image can be rejected using the retinex algorithm to make the input image less sensitive to the illumination change. In addition, to deal with the correspondence problem between indistinguishable adjacent corner features, the orientation of the corner feature is additionally taken into account. These robust features are used as a landmark for the extended Kalman filter EKF-based SLAM to evaluate the robustness. A series of experiments show the improved results using the proposed scheme.

Original languageEnglish
Title of host publication2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages224-227
Number of pages4
ISBN (Electronic)9781467379700
DOIs
Publication statusPublished - 2015 Dec 16
Event12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015 - Goyang City, Korea, Republic of
Duration: 2015 Oct 282015 Oct 30

Publication series

Name2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015

Other

Other12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015
CountryKorea, Republic of
CityGoyang City
Period15/10/2815/10/30

Keywords

  • SLAM
  • Upward-looking camera
  • feature extraction

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

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