Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Laser Image SLAM based on Image Matching for Navigation of a Mobile Robot

이동 로봇 주행을 위한 이미지 매칭에 기반한 레이저 영상 SLAM

  • Choi, Yun Won (Department of Robot Engineering, Yeungnam Univ.) ;
  • Kim, Kyung Dong (Department of Robot Engineering, Yeungnam Univ.) ;
  • Choi, Jung Won (Department of Automatic Elecrical Engineering, Yeungnam College of Science & Technology) ;
  • Lee, Suk Gyu (Department of Electrical Engineering, Yeungnam Univ.)
  • 최윤원 (영남대학교 로봇공학과) ;
  • 김경동 (영남대학교 로봇공학과) ;
  • 최정원 (영남이공대학교 전기자동화학과) ;
  • 이석규 (영남대학교 전기공학과)
  • Received : 2012.07.06
  • Accepted : 2012.11.06
  • Published : 2013.02.01
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Abstract

This paper proposes an enhanced Simultaneous Localization and Mapping (SLAM) algorithm based on matching laser image and Extended Kalman Filter (EKF). In general, laser information is one of the most efficient data for localization of mobile robots and is more accurate than encoder data. For localization of a mobile robot, moving distance information of a robot is often obtained by encoders and distance information from the robot to landmarks is estimated by various sensors. Though encoder has high resolution, it is difficult to estimate current position of a robot precisely because of encoder error caused by slip and backlash of wheels. In this paper, the position and angle of the robot are estimated by comparing laser images obtained from laser scanner with high accuracy. In addition, Speeded Up Robust Features (SURF) is used for extracting feature points at previous laser image and current laser image by comparing feature points. As a result, the moving distance and heading angle are obtained based on information of available points. The experimental results using the proposed laser slam algorithm show effectiveness for the SLAM of robot.

Keywords

References

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