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논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2014.12
- 수록면
- 197 - 205 (9page)
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초록· 키워드
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As computer vision algorithms are developed on a continuous basis, the visual information from vision sensors has been widely used in the context of simultaneous localization and mapping (SLAM), called visual SLAM, which utilizes relative motion information between images. This research addresses a visual SLAM framework for online localization and mapping in an unstructured seabed environment that can be applied to a low-cost unmanned underwater vehicle equipped with a single monocular camera as a major measurement sensor. Typically, an image motion model with a predefined dimensionality can be corrupted by errors due to the violation of the model assumptions, which may lead to performance degradation of the visual SLAM estimation. To deal with the erroneous image motion model, this study employs a local bundle optimization (LBO) scheme when a closed loop is detected. The results of comparison between visual SLAM estimation with LBO and the other case are presented to validate the effectiveness of the proposed methodology.
목차
Abstract
1. 서론
2. ASKF 기반 비주얼 SLAM
3. 영상 운동 모델 보정
4. 실험적 검증 및 결과
5. 결론
References
참고문헌 (16)
참고문헌 신청
1. [학술지(정기간행물)] - 김태윤 / 2013 / 라오-블랙웰라이즈드 입자필터를 이용한 지형참조 수중항법 / 제어.로봇.시스템학회 논문지 19 (8) : 682 ~ 687
2. [학위논문] - K. Richmond / 2009 / Real-time visual mosaicking and navigation on the seafloor / 박사 / Stanford University
3. [학술대회논문] - R. Garcia / 2002 / Augmented state Kalman filtering for AUV navigation / Proc. IEEE International Conference on Robotics and Automation 4 : 4010 ~ 4015
4. [학술지(정기간행물)] - N. Gracias / 2003 / Mosaic based navigation for autonomous underwater vehicles / IEEE Journal of Oceanic Engineering 28 (4) : 609 ~ 624
5. [학술지(정기간행물)] - R. M. Eustice / 2008 / Visually Augmented Navigation for Autonomous Underwater Vehicles / IEEE Journal of Oceanic Engineering 33 (2) : 103 ~ 122
2. [학위논문] - K. Richmond / 2009 / Real-time visual mosaicking and navigation on the seafloor / 박사 / Stanford University
3. [학술대회논문] - R. Garcia / 2002 / Augmented state Kalman filtering for AUV navigation / Proc. IEEE International Conference on Robotics and Automation 4 : 4010 ~ 4015
4. [학술지(정기간행물)] - N. Gracias / 2003 / Mosaic based navigation for autonomous underwater vehicles / IEEE Journal of Oceanic Engineering 28 (4) : 609 ~ 624
5. [학술지(정기간행물)] - R. M. Eustice / 2008 / Visually Augmented Navigation for Autonomous Underwater Vehicles / IEEE Journal of Oceanic Engineering 33 (2) : 103 ~ 122
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