Publication detail

VISUAL SLAM BASED ON PHASE CORRELATION AND PARTICLE FILTERS

RŮŽIČKA, M. MAŠEK, P.

English title

VISUAL SLAM BASED ON PHASE CORRELATION AND PARTICLE FILTERS

Type

Paper in proceedings (conference paper)

Language

en

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 in English

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.

Released

2015-06-23

Publisher

Springer

Location

Switzerland

ISBN

978-3-319-19823-1

ISSN

2194-5357

Book

MENDEL 2015, Recent Advances in Soft Computing

Volume

378

Pages from–to

353–362

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"
}