Table of Contents Author Guidelines Submit a Manuscript
Mathematical Problems in Engineering
Volume 2015, Article ID 149206, 10 pages
http://dx.doi.org/10.1155/2015/149206
Research Article

Vision-Based Semantic Unscented FastSLAM for Indoor Service Robot

1University Town of Shenzhen, HIT Campus, Nanshan District, Shenzhen 518055, China
2Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China

Received 19 December 2014; Accepted 8 June 2015

Academic Editor: Shaoping Bai

Copyright © 2015 Xiaorui Zhu et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Linked References

  1. R. Sim, P. Elinas, M. Griffin, A. Shyr, and J. J. Little, “Design and analysis of a framework for real-time vision-based SLAM using Rao-Blackwellised particle filters,” in Proceedings of the 3rd Canadian Conference on Computer and Robot Vision (CRV '06), p. 21, IEEE, June 2006. View at Publisher · View at Google Scholar · View at Scopus
  2. R. Sim and J. J. Little, “Autonomous vision-based exploration and mapping using hybrid maps and Rao-Blackwellised particle filters,” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '06), pp. 2082–2089, October 2006. View at Publisher · View at Google Scholar · View at Scopus
  3. D. Schleicher, L. M. Bergasa, R. Barea, E. López, and M. Ocaña, “Real-time simultaneous localization and mapping using a wide-angle stereo camera and adaptive patches,” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '06), pp. 2090–2095, October 2006. View at Publisher · View at Google Scholar · View at Scopus
  4. S. Frintrop and P. Jensfelt, “Attentional landmarks and active gaze control for visual SLAM,” IEEE Transactions on Robotics, vol. 24, no. 5, pp. 1054–1065, 2008. View at Publisher · View at Google Scholar · View at Scopus
  5. M. Magnabosco and T. P. Breckon, “Cross-spectral visual simultaneous localization and mapping (SLAM) with sensor handover,” Robotics and Autonomous Systems, vol. 61, no. 2, pp. 195–208, 2013. View at Publisher · View at Google Scholar · View at Scopus
  6. B. Williams, P. Smith, and I. Reid, “Automatic relocalisation for a single-camera simultaneous localisation and mapping system,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '07), pp. 2784–2790, April 2007. View at Publisher · View at Google Scholar · View at Scopus
  7. D. Chekhlov, M. Pupilli, W. Mayol, and A. Calway, “Robust real-time visual SLAM using scale prediction and exemplar based feature description,” in Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR '07), pp. 1–7, Minneapolis, Minn, USA, June 2007. View at Publisher · View at Google Scholar · View at Scopus
  8. E. Eade and T. Drummond, “Edge landmarks in monocular SLAM,” Image and Vision Computing, vol. 27, no. 5, pp. 588–596, 2009. View at Publisher · View at Google Scholar · View at Scopus
  9. C. Zhou, Y. Wei, and T. Tan, “Mobile robot self-localization based on global visual appearance features,” in Proceedings of the IEEE International Conference on Robotics and Automation, pp. 1271–1276, September 2003. View at Scopus
  10. B. Bacca, J. Salvi, and X. Cufí, “Appearance-based SLAM for mobile robots,” in Proceedings of the 12th International Conference of the Catalan Association for Artificial Intelligence (CCIA '09), pp. 55–64, Cardona, Spain, October 2009.
  11. H. Morita, M. Hild, J. Miura, and Y. Shirai, “Panoramic view-based navigation in outdoor environments based on support vector learning,” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '06), pp. 2302–2307, October 2006. View at Publisher · View at Google Scholar · View at Scopus
  12. B. Williams and I. Reid, “On combining visual SLAM and visual odometry,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '10), pp. 3494–3500, May 2010. View at Publisher · View at Google Scholar · View at Scopus
  13. J. Martínez-Carranza and A. Calway, “Efficient visual odometry using a structure-driven temporal map,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '12), pp. 5210–5215, IEEE, Saint Paul, Minn, USA, May 2012. View at Publisher · View at Google Scholar · View at Scopus
  14. A. P. Gee, D. Chekhlov, A. Calway, and W. Mayol-Cuevas, “Discovering higher level structure in visual SLAM,” IEEE Transactions on Robotics, vol. 24, no. 5, pp. 980–990, 2008. View at Publisher · View at Google Scholar · View at Scopus
  15. E. Fernandez-Moral, W. Mayol-Cuevas, V. Arevalo, and J. Gonzalez-Jimenez, “Fast place recognition with plane-based maps,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '13), pp. 2719–2724, May 2013. View at Publisher · View at Google Scholar · View at Scopus
  16. J. Kwon and K. M. Lee, “Monocular SLAM with locally planar landmarks via geometric rao-blackwellized particle filtering on lie groups,” in Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR '10), pp. 1522–1529, June 2010. View at Publisher · View at Google Scholar · View at Scopus
  17. J. Fuentes-Pacheco, J. Ruiz-Ascencio, and J. M. Rendón-Mancha, “Visual simultaneous localization and mapping: a survey,” Artificial Intelligence Review, vol. 43, no. 1, pp. 55–81, 2015. View at Publisher · View at Google Scholar · View at Scopus
  18. A. Angeli, S. Doncieux, J.-A. Meyer, and D. Filliat, “Visual topological SLAM and global localization,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '09), pp. 4300–4305, Kobe, Japan, May 2009. View at Publisher · View at Google Scholar · View at Scopus
  19. K. Konolige, E. Marder-Eppstein, and B. Marthi, “Navigation in hybrid metric-topological maps,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '11), pp. 3041–3047, May 2011. View at Publisher · View at Google Scholar · View at Scopus
  20. L. Fernández, L. Payá, O. Reinoso, A. Gil, and D. Valiente, “Visual hybrid SLAM: an appearance-based approach to loop closure,” in ROBOT2013: First Iberian Robotics Conference, vol. 252 of Advances in Intelligent Systems and Computing, pp. 693–701, Springer, 2014. View at Publisher · View at Google Scholar
  21. S. Thrun and A. Buecken, “Integrating grid-based and topological maps for mobile robot navigation,” in Proceedings of the 13th National Conference on Artificial Intelligence (AAAI '96), pp. 944–950, August 1996. View at Scopus
  22. D. F. Wolf and G. S. Sukhatme, “Semantic mapping using mobile robots,” IEEE Transactions on Robotics, vol. 24, no. 2, pp. 245–258, 2008. View at Publisher · View at Google Scholar · View at Scopus
  23. A. Ranganathan and F. Dellaert, “Semantic modeling of places using objects,” in Proceedings of the Robotics: Science and Systems Conference, pp. 27–30, Atlanta, Ga, USA, June 2007.
  24. C. Yi, I. H. Suh, G. H. Lim, and B.-U. Choi, “Active-semantic localization with a single consumer-grade camera,” in Proceedings of the IEEE International Conference on Systems, Man and Cybernetics (SMC '09), pp. 2161–2166, October 2009. View at Publisher · View at Google Scholar · View at Scopus
  25. C. Yi, I. H. Suh, G. H. Lim, and B.-U. Choi, “Bayesian robot localization using spatial object contexts,” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '09), pp. 3467–3473, IEEE, St. Louis, Mo, USA, October 2009. View at Publisher · View at Google Scholar · View at Scopus
  26. R. Smith, M. Self, and P. Cheeseman, “Estimating uncertain spatial relationships in robotics,” in Autonomous Robot Vehicles, pp. 167–193, Springer, Berlin, Germany, 1990. View at Google Scholar
  27. A. Doucet, N. De Freitas, K. Murphy, and S. Russell, “Rao-blackwellised particle filtering for dynamic Bayesian networks,” in Proceedings of the 16th Conference on Uncertainty in Artificial Intelligence (UAI '00), pp. 176–183, 2000.
  28. C. Kim, R. Sakthivel, and W. K. Chung, “Unscented FastSLAM: a robust and efficient solution to the SLAM problem,” IEEE Transactions on Robotics, vol. 24, no. 4, pp. 808–820, 2008. View at Publisher · View at Google Scholar · View at Scopus
  29. G. Campion, G. Bastin, and B. Dandrea-Novel, “Structural properties and classification of kinematic and dynamic models of wheeled mobile robots,” IEEE Transactions on Robotics and Automation, vol. 12, no. 1, pp. 47–62, 1996. View at Publisher · View at Google Scholar · View at Scopus
  30. S. Julier, J. Uhlmann, and H. F. Durrant-Whyte, “A new method for the nonlinear transformation of means and covariances in filters and estimators,” IEEE Transactions on Automatic Control, vol. 45, no. 3, pp. 477–482, 2000. View at Publisher · View at Google Scholar · View at MathSciNet · View at Scopus