EKF-SLAM and Machine Learning Techniques for Visual Robot Navigation

Casarrubias-Vargas, Heriberto; Petrilli-Barceló, Alberto; Bayro–Corrochano, Eduardo

doi:10.1109/icpr.2010.105

Cited by 13 publications

(9 citation statements)

References 8 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In ref. [14] it is shown that considering the orientation of the features can be beneficial for reducing estimation uncertainty. In this paper we provide an observability analysis for the case in which the full pose of the landmarks is estimated, including the interesting case of delayed-state EKF-SLAM.…”

Section: Related Workmentioning

confidence: 99%

“…Tailoring this concept to the problem at hand, the piecewise linear system describing our SLAM problem is instantaneously observable at time k if the measurements acquired at time k allows to estimate the absolute poses of robot and landmarks. For the study of local observability let us write the LOM in explicit form for the system with F k and H k described as in (13) and (14), respectively:…”

Section: Observability Analysismentioning

confidence: 99%

See 1 more Smart Citation

Quaternion-based EKF-SLAM from relative pose measurements: observability analysis and applications

et al. 2014

View full text Add to dashboard Cite

SUMMARYIn this work, we investigate a quaternion-based formulation of 3D Simultaneous Localization and Mapping with Extended Kalman Filter (EKF-SLAM) using relative pose measurements. We introduce a discrete-time derivation that avoids thenormalization problemthat often arises when using unit quaternions in Kalman filter and we study its observability properties. The consistency of the estimation errors with the corresponding covariance matrices is also evaluated. The approach is further tested on real data from theRawseeds datasetand it is applied within a delayed-state EKF architecture for estimating a dense 3D map of an unknown environment. The contribution is motivated by the possibility of abstracting multi-sensorial information in terms of relative pose measurements and for its straightforward extensions to the multi robot case.

show abstract

Section: Related Workmentioning

confidence: 99%

Section: Observability Analysismentioning

confidence: 99%

Quaternion-based EKF-SLAM from relative pose measurements: observability analysis and applications

et al. 2014

View full text Add to dashboard Cite

show abstract

“…To address the above challenges, plenty of approaches based on image understanding and machine learning were proposed in recent years to enhance the robustness of navigation systems [7], [8], [9], [10], e.g., invariant features and the optimization of the motion parameters [11], [12]. In addition to the effect of illumination, scale, and rotation, motion blur is an issue affecting the robustness of visual navigation systems.…”

Section: Introductionmentioning

confidence: 99%

A real-time method for detecting sharp images in visual navigation

Guan

et al. 2012

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)

View full text Add to dashboard Cite

In this paper, we present a novel method to filter the blurred images for improving the robustness of robot visual navigation to motion blur. Mainly arising from the motion blur of the robot, blurred images negatively affect the performance of visual navigation, and hence should be filtered. Based on the blur feature of the vision and the motion feature of the robot, our method, which we refer to as motion blur detector, is capable of outputting continuously sharp images for visual navigation system in a no-reference detection framework. Experiments are conducted to show the reliability and efficiency of the proposed method.

show abstract

“…Information sources commonly used for robot navigation include computer vision [4,5], sound [6,7,8], WiFi [9,10], Radiofrequency Identification (RFID) [11], and low-power radio signal from wireless sensor network [12].…”

Section: Introductionmentioning

confidence: 99%

Speaker tracking module for indoor robot navigation

Teachasrisaksakul

Iemcha-od

Thiemjarus

et al. 2012

2012 9th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technolog

View full text Add to dashboard Cite

The goal of this study is to equip a mobile service robot with an ability to navigate to the human who commands the robot by speech. This paper proposes a Bayesian approach to sound source localization for speaker tracking module. Based on time delay of arrival (TDOA) features, sound source direction is classified using a naïve Bayesian network. The method requires low computational complexity and is feasible for real-time robot navigation. Based on an experiment with various parameter settings in an indoor environment, different factors that affect the classification accuracy have been analyzed. Further validation on a human speaker with random sound volumes and positions illustrates that the proposed method can work efficiently in real-world environments.

show abstract

EKF-SLAM and Machine Learning Techniques for Visual Robot Navigation

Cited by 13 publications

References 8 publications

Quaternion-based EKF-SLAM from relative pose measurements: observability analysis and applications

Quaternion-based EKF-SLAM from relative pose measurements: observability analysis and applications

A real-time method for detecting sharp images in visual navigation

Speaker tracking module for indoor robot navigation

Contact Info

Product

Resources

About