Detail publikace

VISUAL SLAM BASED ON PHASE CORRELATION AND PARTICLE FILTERS

RŮŽIČKA, M. MAŠEK, P.

Originální název

VISUAL SLAM BASED ON PHASE CORRELATION AND PARTICLE FILTERS

Typ

článek ve sborníku ve WoS nebo Scopus

Jazyk

angličtina

Originální abstrakt

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.

Klíčová slova

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.

Autoři

RŮŽIČKA, M.; MAŠEK, P.

Rok RIV

2015

Vydáno

23. 6. 2015

Nakladatel

Springer

Místo

Switzerland

ISBN

978-3-319-19823-1

Kniha

MENDEL 2015, Recent Advances in Soft Computing

Edice

Advances in Inteligent Systems and Computing

Číslo edice

378

ISSN

2194-5357

Periodikum

Advances in Intelligent Systems and Computing

Ročník

378

Stát

Švýcarská konfederace

Strany od

353

Strany do

362

Strany počet

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"
}