Vision-Based Semantic Unscented FastSLAM for Indoor Service Robot

	Vision-Based Semantic Unscented FastSLAM for Indoor Service Robot
	Zhu, Xiaorui; Deng, Fucheng; Ou, Yongsheng; Liu, Letian; Wang, Ermeng
刊名	MATHEMATICAL PROBLEMS IN ENGINEERING
	2015
英文摘要	This paper proposes a vision-based Semantic Unscented FastSLAM (UFastSLAM) algorithm for mobile service robot combining the semanticrelationship and the Unscented FastSLAM. The landmark positions and the semantic relationships among landmarks are detected by a binocular vision. Then the semantic observation model can be created by transforming the semantic relationships into the semantic metric map. Semantic UnscentedFastSLAM can be used to update the locations of the landmarks and robot pose even when the encoder inherits large cumulative errors that may not be corrected by the loop closure detection of the vision system. Experiments have been carried out to demonstrate that the Semantic UnscentedFastSLAM algorithm can achieve much better performance in indoor autonomous surveillance than Unscented FastSLAM.
收录类别	SCI
原文出处	http://apps.webofknowledge.com/full_record.do?product=WOS&search_mode=GeneralSearch&qid=15&SID=Y1VmmJbFBOrzBa8CBmR&page=1&doc=1
语种	英语
内容类型	期刊论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/6669]
专题	深圳先进技术研究院_集成所
作者单位	MATHEMATICAL PROBLEMS IN ENGINEERING
推荐引用方式 GB/T 7714	Zhu, Xiaorui,Deng, Fucheng,Ou, Yongsheng,et al. Vision-Based Semantic Unscented FastSLAM for Indoor Service Robot[J]. MATHEMATICAL PROBLEMS IN ENGINEERING,2015.
APA	Zhu, Xiaorui,Deng, Fucheng,Ou, Yongsheng,Liu, Letian,&Wang, Ermeng.(2015).Vision-Based Semantic Unscented FastSLAM for Indoor Service Robot.MATHEMATICAL PROBLEMS IN ENGINEERING.
MLA	Zhu, Xiaorui,et al."Vision-Based Semantic Unscented FastSLAM for Indoor Service Robot".MATHEMATICAL PROBLEMS IN ENGINEERING (2015).