Image features-based mobile robot visual SLAM

• Published in: 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO) pp. 2499 - 2504
• Main Authors: Rui Lin, Maohai Li, Lining Sun
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.12.2013
• Subjects: Feature extraction; Mobile robots; Robot kinematics; Three-dimensional displays; Visualization

Accurate localization and mapping play a pivotal role in mobile robot navigation. In this paper, we present a novel algorithm for mobile robot SLAM (Simultaneous Localization and Mapping) based on stereo vision. First a novel method is proposed to extract distinctive invariant image features, which...