| 智能轮椅视觉SLAM仿真系统实现 |
| |
| 引用本文： | 陈勇,吕霞付,李凤华.智能轮椅视觉SLAM仿真系统实现[J].数字通信,2009,36(5):69-72. |
| |
| 作者姓名： | 陈勇 吕霞付 李凤华 |
| |
| 作者单位： | 重庆邮电大学,自动化学院,重庆,400065 |
| |
| 摘 要： | 运用了基于视觉的EKF同时定位与地图创建（SLAM）方法来实现智能轮椅在室内环境下的导航问题。通过对图像的特征提取及匹配、更新确定自身位姿并建立地图。有效准确的特征提取是SLAM实现的必要条件之一。仿真实验显示，所提出的算法可以实现移动机器人的视觉SLAM。
|
| 关 键 词： | 智能轮椅 EKF 视觉传感器 SIFT SLAM |
Simulation system implementation for intelligent wheelchair visual-based SLAM |
| |
| CHEN Yong,LV Xia-fu,LI Feng-hua.Simulation system implementation for intelligent wheelchair visual-based SLAM[J].Digital Communication,2009,36(5):69-72. |
| |
| Authors: | CHEN Yong LV Xia-fu LI Feng-hua |
| |
| Affiliation: | College of Automation, Chongqing University of Posts and Telecommunications, Chongqing 400065, P. R China |
| |
| Abstract: | The visual-based EKF simultaneous localization and mapping methods was used to achieve the intelligent wheelchair navigation in indoor environment. Through the feature extraction and image matching, their position was renewed and the map was established. The efficient and correct feature extraction is one of the prerequisites for the realization of SLAM. The simulation experiment shows that the proposed algorithm can realize the visual SLAM of mobile robot. |
| |
| Keywords: | EKF SIFT SLAM |
| 本文献已被 维普 万方数据 等数据库收录！ |
| 点击此处可从《数字通信》浏览原始摘要信息 |
|
点击此处可从《数字通信》下载全文 |
|
