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RŮŽIČKA, M. MAŠEK, P.
Original Title
VISUAL SLAM BASED ON PHASE CORRELATION AND PARTICLE FILTERS
Type
conference paper
Language
English
Original Abstract
This paper deals with design of visual SLAM method, which is based on phase correlation and particle filters. This method can be used for localization of autonomous mobile robots inside of buildings. The method contains two parts. The first one is mapping of environ-ment, where the mobile robot operates. For this purpose was used phase correlation and images stitching method. The second one is localization problem, which was solved by particle filters, where a particles weights re-sampling was realized by phase correlation image processing method as well. Localization uses the map, which was created by phase correlation and stitching method.
Keywords
Phase correlation, particle filters, visual SLAM, localization, mapping, stitching, computer vision, image processing, mobile robot, discrete Fourier transform, inverse discrete Fourier transform and Hanning window.
Authors
RŮŽIČKA, M.; MAŠEK, P.
RIV year
2015
Released
23. 6. 2015
Publisher
Springer
Location
Switzerland
ISBN
978-3-319-19823-1
Book
MENDEL 2015, Recent Advances in Soft Computing
Edition
Advances in Inteligent Systems and Computing
Edition number
378
2194-5357
Periodical
Advances in Intelligent Systems and Computing
Year of study
State
Swiss Confederation
Pages from
353
Pages to
362
Pages count
10
BibTex
@inproceedings{BUT115145, author="Michal {Růžička} and Petr {Mašek}", title="VISUAL SLAM BASED ON PHASE CORRELATION AND PARTICLE FILTERS", booktitle="MENDEL 2015, Recent Advances in Soft Computing", year="2015", series="Advances in Inteligent Systems and Computing", journal="Advances in Intelligent Systems and Computing", volume="378", number="378", pages="353--362", publisher="Springer", address="Switzerland", doi="10.1007/978-3-319-19824-8", isbn="978-3-319-19823-1", issn="2194-5357" }