EM-EKF based Visual SLAM for Simple Robot Localization

被引：0
作者：
Liu, Minxiang [1 ]
Leung, Henry [1 ]
机构：
[1] Univ Calgary, Dept Elect & Comp Engn, Schulich Sch Engn, Calgary, AB, Canada
来源：
2014 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN AND CYBERNETICS (SMC) | 2014年
关键词：
EM-EKF; robot navigation; 3D-SLAM; Kinect;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper presents a novel SLAM method based on the filter that fuses EM algorithm in EKF. Due to the visual SLAM mostly depends on the sensor information that is hard to be obtained in high-level accuracy, the proposed filter is designed to deal with this problem since it can estimate the unknown parameter from the known information in every frame. Real-time experimental results also prove the advantages of SLAM method based on the proposed filter. Compared to the regular EKF, SLAM based on EM-EKF is suggested to have up to 60 percent improvement in the accuracy. It also shows the advantage in the convergence speed and the stability of the system.
引用
收藏
页码：3121 / 3125
页数：5
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