Novel Rao-Blackwellized Particle Filter for Mobile Robot SLAM Using Monocular Vision

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Filter for Mobile Robot SLAM Using Monocular Vision</title> <meta name="description" content="Novel Rao-Blackwellized Particle Filter for Mobile Robot SLAM Using Monocular Vision"> <meta name="keywords" content="Mobile robot, simultaneous localization and mapping, Rao-Blackwellised particle filter, evolution strategies, scale invariant feature transform."> <meta name="viewport" content="width=device-width, initial-scale=1, minimum-scale=1, maximum-scale=1, user-scalable=no"> <meta charset="utf-8"> <meta name="citation_title" content="Novel Rao-Blackwellized Particle Filter for Mobile Robot SLAM Using Monocular Vision"> <meta name="citation_author" content="Maohai Li"> <meta name="citation_author" content="Bingrong Hong"> <meta name="citation_author" content="Zesu Cai"> <meta name="citation_author" content="Ronghua Luo"> <meta name="citation_publication_date" content="2008/03/29"> <meta name="citation_journal_title" content="International Journal of Computer and Information Engineering"> <meta name="citation_volume" content="2"> <meta name="citation_issue" content="3"> <meta name="citation_firstpage" content="976"> <meta name="citation_lastpage" content="982"> <meta name="citation_pdf_url" content="https://publications.waset.org/15275/pdf"> <link href="https://cdn.waset.org/favicon.ico" type="image/x-icon" rel="shortcut icon"> <link href="https://cdn.waset.org/static/plugins/bootstrap-4.2.1/css/bootstrap.min.css" rel="stylesheet"> <link href="https://cdn.waset.org/static/plugins/fontawesome/css/all.min.css" rel="stylesheet"> <link href="https://cdn.waset.org/static/css/site.css?v=150220211555" rel="stylesheet"> </head> <body> <header> <div class="container"> <nav class="navbar navbar-expand-lg navbar-light"> <a class="navbar-brand" href="https://waset.org"> <img src="https://cdn.waset.org/static/images/wasetc.png" alt="Open Science Research Excellence" title="Open Science Research Excellence" /> </a> <button class="d-block d-lg-none navbar-toggler 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class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Maohai%20Li">Maohai Li</a>, <a href="https://publications.waset.org/search?q=Bingrong%20Hong"> Bingrong Hong</a>, <a href="https://publications.waset.org/search?q=Zesu%20Cai"> Zesu Cai</a>, <a href="https://publications.waset.org/search?q=Ronghua%20Luo"> Ronghua Luo</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper presents the novel Rao-Blackwellised particle filter (RBPF) for mobile robot simultaneous localization and mapping (SLAM) using monocular vision. The particle filter is combined with unscented Kalman filter (UKF) to extending the path posterior by sampling new poses that integrate the current observation which drastically reduces the uncertainty about the robot pose. The landmark position estimation and update is also implemented through UKF. Furthermore, the number of resampling steps is determined adaptively, which seriously reduces the particle depletion problem, and introducing the evolution strategies (ES) for avoiding particle impoverishment. The 3D natural point landmarks are structured with matching Scale Invariant Feature Transform (SIFT) feature pairs. The matching for multi-dimension SIFT features is implemented with a KD-Tree in the time cost of O(log2 N). Experiment results on real robot in our indoor environment show the advantages of our methods over previous approaches. <iframe src="https://publications.waset.org/15275.pdf" style="width:100%; height:400px;" frameborder="0"></iframe> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Mobile%20robot" title="Mobile robot">Mobile robot</a>, <a href="https://publications.waset.org/search?q=simultaneous%20localization%20and%0Amapping" title=" simultaneous localization and mapping"> simultaneous localization and mapping</a>, <a href="https://publications.waset.org/search?q=Rao-Blackwellised%20particle%20filter" title=" Rao-Blackwellised particle filter"> Rao-Blackwellised particle filter</a>, <a href="https://publications.waset.org/search?q=evolution%20strategies" title=" evolution strategies"> evolution strategies</a>, <a href="https://publications.waset.org/search?q=scale%0Ainvariant%20feature%20transform." title=" scale invariant feature transform."> scale invariant feature transform.</a> </p> <p class="card-text"><strong>Digital Object Identifier (DOI):</strong> <a href="https://doi.org/10.5281/zenodo.1084728" target="_blank">doi.org/10.5281/zenodo.1084728</a> </p> <a href="https://publications.waset.org/15275/novel-rao-blackwellized-particle-filter-for-mobile-robot-slam-using-monocular-vision" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/15275/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/15275/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/15275/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/15275/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/15275/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/15275/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/15275/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/15275/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/15275/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/15275/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/15275.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">2145</span> </span> <p class="card-text"><strong>References:</strong></p> <br>[1] D. Kortenkamp, R.P. Bonasso, and R. Murphy, editors, AI-based Mobile Robots: Case studies of successful robot systems, MIT Press, Cambridge, 1998, pp. 91-122. <br>[2] R. C. Smith, P. Cheeseman, "On the Representation and Estimation of Spatial Uncertainty," International Journal of Robotics Research, vol. 5, no. 4, pp. 56-68, 1986. <br>[3] J. Leonard, J. D. Tard'os, S. Thrun, and H. Choset, editors, Workshop Notes of the ICRA Workshop on Concurrent Mapping and Localization for Autonomous Mobile Robots, in Proc. IEEE Int. Conf. Robotics and Automation, Washington, DC, 2002. <br>[4] J. E. Guivant, E. M. Nebot, "Optimization of the simultaneous localization and map-building algorithm for real-time implementation," IEEE Trans. Robotics and Automation, vol. 17, no. 3, pp. 242-257, 2001. <br>[5] A. J. Davison and D. W. Murray, "Simultaneous localization and map building using active vision," IEEE Trans. Pattern Analysis and Machine Intelligence, vol. 24, no. 7, pp. 865-880, 2002. <br>[6] K. Murphy and S. Russell, "Rao-blackwellized particle filtering for dynamic bayesian networks," in Sequential monte carlo methods in practice, Springer Verlag, 2001. <br>[7] M. Montemerlo and S. Thrun, "Simultaneous localization and mapping with unknown data association using FastSLAM," in Proc. IEEE Int. Conf. Robotics and Automation, Taipei, 2003. <br>[8] A. J. Davison, "Real-time simultaneous localisation and mapping with a single camera," in Proc. of The Ninth Int. Conf. on Computer Vision ICCV'03, Nice, France, 2003, pp. 1403-1410. <br>[9] C. Stachniss, G. Grisetti, and W. Burgard, "Recovering Particle Diversity in a Rao-Blackwellized Particle Filter for SLAM After Actively Closing Loops," in Proc. IEEE Int. Conf. Robotics and Automation, 2005, pp. 667-672, Barcelona, Spain. <br>[10] R. Sim, P. Elinas, M. Griffin, and J. Little, "Vision-based SLAM using the Rao-Blackwellized Particle Filter," in Workshop Reasoning with Uncertainty in Robotics, Edinburgh, Scotland, 2005. <br>[11] M. N. Dailey and M. Parnichkun, "Landmark-based simultaneous localization and mapping with stereo vision," in Proc. of the 2005 Asian Conf. on Industrial Automation and Robotics, 2005. <br>[12] S. Se, D. Lowe, and J. Little, Mobile robot localization and mapping with uncertainty using scale-invariant visual landmarks, International Journal of Robotics Research, 21(8): 735-758, 2002. <br>[13] A. Davison, Y. Cid, and N. Kita, "Real-time 3D SLAM with wide-angle vision," in Proceedings of the IFAC Symposium on Intelligent Autonomous Vehicles, 2004. <br>[14] D. Lowe, "Distinctive image features from scale-invariant keypoints," Int. J. of Computer Vision, vol. 60, no. 2, pp. 91-110, 2004. <br>[15] A. W. Moore, "An introductory tutorial on kd-trees," Robotics Institute, Carnegie Mellon University, Pittsburgh, Technical Report No. 209, Computer Laboratory, University of Cambridge, 1991. <br>[16] R. Merwe, A. Doucet, N. Freitas, and E. Wan, "The Unscented Particle Filter," Technical Report CUED/FINFENG /TR 380, Cambridge University, Engineering Department, 2000. <br>[17] A. Doucet, "On sequential simulation-based methods for Bayesian filtering," Technical report, Signal Processing Group, Departement of Engeneering, University of Cambridge, 1998. <br>[18] T. Duckett, "A genetic algorithm for simultaneous localization and mapping," in Proc. of the IEEE International Conference on Robotics and Automation, 2003, pp. 434-439. <br>[19] J. S. Liu and R. Chen, "Sequential Monte Carlo methods for dynamical systems," J. Amer. Statist. Assoc., vol. 93, pp. 1032-1044, 1998. <br>[20] Z. Zhang, "Flexible camera calibration by viewing a plane from unknown orientations," Proc. 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Novel Rao-Blackwellized Particle Filter for Mobile Robot SLAM Using Monocular Vision