Low-cost sensor-based exploration in home environments with salient visual features

Joong Tae Park, Jae-Bok Song

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

1 Citation (Scopus)

Abstract

This paper describes an exploration method based on sonar sensors and a stereo camera. To build an accurate map in unknown environments during exploration, SLAM (Simultaneous Localization and Mapping) problem should be solved. Therefore, a salient visual feature (SVF) extraction method is proposed for SLAM. The key concept of SVF extraction method is to extract meaningful features of environments using SIFT keypoints. The extracted SVFs are applied to the EKF (Extended Kalman Filter)-based SLAM framework. This proposed method was verified by various experiments which show that the robot could build an accurate map autonomously with sonar sensors and a stereo camera in various home environments.

Original languageEnglish
Title of host publicationICCAS 2010 - International Conference on Control, Automation and Systems
Pages2218-2222
Number of pages5
Publication statusPublished - 2010 Dec 1
EventInternational Conference on Control, Automation and Systems, ICCAS 2010 - Gyeonggi-do, Korea, Republic of
Duration: 2010 Oct 272010 Oct 30

Other

OtherInternational Conference on Control, Automation and Systems, ICCAS 2010
CountryKorea, Republic of
CityGyeonggi-do
Period10/10/2710/10/30

Fingerprint

Sonar
Feature extraction
Sensors
Cameras
Costs
Extended Kalman filters
Robots
Experiments

Keywords

  • Exploration
  • Mobile robot
  • SLAM
  • Visual feature

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering

Cite this

Park, J. T., & Song, J-B. (2010). Low-cost sensor-based exploration in home environments with salient visual features. In ICCAS 2010 - International Conference on Control, Automation and Systems (pp. 2218-2222). [5669849]

Low-cost sensor-based exploration in home environments with salient visual features. / Park, Joong Tae; Song, Jae-Bok.

ICCAS 2010 - International Conference on Control, Automation and Systems. 2010. p. 2218-2222 5669849.

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

Park, JT & Song, J-B 2010, Low-cost sensor-based exploration in home environments with salient visual features. in ICCAS 2010 - International Conference on Control, Automation and Systems., 5669849, pp. 2218-2222, International Conference on Control, Automation and Systems, ICCAS 2010, Gyeonggi-do, Korea, Republic of, 10/10/27.
Park JT, Song J-B. Low-cost sensor-based exploration in home environments with salient visual features. In ICCAS 2010 - International Conference on Control, Automation and Systems. 2010. p. 2218-2222. 5669849
Park, Joong Tae ; Song, Jae-Bok. / Low-cost sensor-based exploration in home environments with salient visual features. ICCAS 2010 - International Conference on Control, Automation and Systems. 2010. pp. 2218-2222
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