Mobile Robot Loop Closing and Simultaneous Localization and Mapping Using Monocular Camera

• Main Authors: Yuan, Li-Deh, 袁立德
• Other Authors: Song, Kai-Tai
• Format: Others
• Language: zh-TW
• Published: 2010
• Online Access: http://ndltd.ncl.edu.tw/handle/93883253723000837813

碩士 === 國立交通大學 === 電機學院碩士在職專班電機與控制組 === 98 === In this thesis, we develop a system that uses a monocular camera to realize simultaneous localization and mapping(SLAM) of a mobile robot. The vSLAM system is based on Extended Kalman Filter (EKF) and uses scaling invariant feature transform (SIFT) algorithm for feature extraction. We propose a new method by using the characteristic of monocular camera to discard the outlier and improve the feature matching rate. The method also helps the stability of EKF algorithm to make more accurate robot localization more correctly. We save the reference images into a database and match the current image with reference images for improving the loop closing. The experimental results show that the proposed method effectively improves the feature matching and loop closing accuracy. A multi loop indoor navigation experiment reveals that the proposed localization algorithm can help robot to navigate in indoor environment and build the features map simultaneously.