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Enhanced mapping of multi-robot using distortion reducing filter based SIFT

Title
Enhanced mapping of multi-robot using distortion reducing filter based SIFT
Authors
Choi, Kyung SikKim, Yoon GuAn, Jin UngLee, Suk Gyu
DGIST Authors
Kim, Yoon Gu; An, Jin Ung
Issue Date
2010
Citation
1st International Conference on Advances in Swarm Intelligence, ICSI 2010, 6145 LNCS(PART 1), 651-658
Type
Conference
Article Type
Conference Paper
ISBN
3642134947
ISSN
0302-9743
Abstract
This paper proposes an enhanced mapping of multi-robot using a DSIFT to reduce the mapping calculation time. In this approach, the master robot transmits each robot's mapping information in SLAM by DSIFT, which incorporates an additional step on the SIFT. The DSIFT uses a keypoint to reduce the distortional information throughout the Gaussian filter after the step of the image descriptor. The master robot calculates the slave robot's pose using picture images, and serves the results to all the robots. Simulation results are presented based on DSIFT showing better performance than using the SIFT in multi-robot mapping situations. © 2010 Springer-Verlag.
URI
http://hdl.handle.net/20.500.11750/1861
DOI
10.1007/978-3-642-13495-1_80
Publisher
Springer Verlag
Related Researcher
Files:
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Collection:
Division of IoT∙Robotics Convergence Research2. Conference Papers


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