Graph SLAM for AGV using geometrical arrangement based on lamp and SURF features in a factory environment

Minkuk Jung; Jae-Bok Song

doi:10.1109/ICCAS.2016.7832411

Graph SLAM for AGV using geometrical arrangement based on lamp and SURF features in a factory environment

Minkuk Jung, Jae-Bok Song

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

7 Citations (Scopus)

Abstract

In this study, we propose a method to extract features for graph SLAM using an upward-looking camera mounted in an automated guided vehicle (AGV) in a factory environment. To this end, a novel feature detector and descriptor GALS (geometrical arrangement based on lamps and SURF) is proposed in this study. This algorithm consists of two parts: 1) geometrical arrangement of SURF features around a lamp that is often observed in a factory environment; and 2) a SURF descriptor. The use of the geometrical arrangement of several SURF features provides a more distinguishable feature than the use of a single SURF feature, and thus it can be robustly used for feature matching. As a result of GALS-based graph SLAM, a graph is created and optimized through a Georgia Tech Smoothing and Mapping Library (GTSAM) tool so that the accumulated error due to the slip is minimized. A series of experiments in indoor factory environments showed that the proposed scheme resulted in reliable navigation.

Original language	English
Title of host publication	ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings
Publisher	IEEE Computer Society
Pages	844-848
Number of pages	5
ISBN (Electronic)	9788993215120
DOIs	https://doi.org/10.1109/ICCAS.2016.7832411
Publication status	Published - 2016 Jan 24
Event	16th International Conference on Control, Automation and Systems, ICCAS 2016 - Gyeongju, Korea, Republic of Duration: 2016 Oct 16 → 2016 Oct 19

Publication series

Name	International Conference on Control, Automation and Systems
Volume	0
ISSN (Print)	1598-7833

Other

Other	16th International Conference on Control, Automation and Systems, ICCAS 2016
Country/Territory	Korea, Republic of
City	Gyeongju
Period	16/10/16 → 16/10/19

Bibliographical note

Publisher Copyright:
© 2016 Institute of Control, Robotics and Systems - ICROS.

Keywords

Visual features
factory environments
monocular SLAM
upward-looking camera

ASJC Scopus subject areas

Artificial Intelligence
Computer Science Applications
Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/ICCAS.2016.7832411

Cite this

Jung, M., & Song, J.-B. (2016). Graph SLAM for AGV using geometrical arrangement based on lamp and SURF features in a factory environment. In ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings (pp. 844-848). Article 7832411 (International Conference on Control, Automation and Systems; Vol. 0). IEEE Computer Society. https://doi.org/10.1109/ICCAS.2016.7832411

Graph SLAM for AGV using geometrical arrangement based on lamp and SURF features in a factory environment. / Jung, Minkuk; Song, Jae-Bok.
ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings. IEEE Computer Society, 2016. p. 844-848 7832411 (International Conference on Control, Automation and Systems; Vol. 0).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Jung, M & Song, J-B 2016, Graph SLAM for AGV using geometrical arrangement based on lamp and SURF features in a factory environment. in ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings., 7832411, International Conference on Control, Automation and Systems, vol. 0, IEEE Computer Society, pp. 844-848, 16th International Conference on Control, Automation and Systems, ICCAS 2016, Gyeongju, Korea, Republic of, 16/10/16. https://doi.org/10.1109/ICCAS.2016.7832411

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Graph SLAM for AGV using geometrical arrangement based on lamp and SURF features in a factory environment

Abstract

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Keywords

ASJC Scopus subject areas

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Cite this