TY - GEN
T1 - Illumination change compensation and extraction of corner feature orientation for upward-looking camera-based SLAM
AU - Park, Chansoo
AU - Song, Jae Bok
N1 - Funding Information:
This research was supported by the MOTIE under the Industrial Foundation Technology Development Program supervised by the KEIT (No. 10051155)
Publisher Copyright:
© 2015 IEEE.
PY - 2015/12/16
Y1 - 2015/12/16
N2 - In this paper, the improved upward-looking camera based SLAM is proposed. With the corner features that are highly robust to the illumination change and contain their orientation information, SLAM performance can improve effectively. The illumination properties from the image can be rejected using the retinex algorithm to make the input image less sensitive to the illumination change. In addition, to deal with the correspondence problem between indistinguishable adjacent corner features, the orientation of the corner feature is additionally taken into account. These robust features are used as a landmark for the extended Kalman filter EKF-based SLAM to evaluate the robustness. A series of experiments show the improved results using the proposed scheme.
AB - In this paper, the improved upward-looking camera based SLAM is proposed. With the corner features that are highly robust to the illumination change and contain their orientation information, SLAM performance can improve effectively. The illumination properties from the image can be rejected using the retinex algorithm to make the input image less sensitive to the illumination change. In addition, to deal with the correspondence problem between indistinguishable adjacent corner features, the orientation of the corner feature is additionally taken into account. These robust features are used as a landmark for the extended Kalman filter EKF-based SLAM to evaluate the robustness. A series of experiments show the improved results using the proposed scheme.
KW - SLAM
KW - Upward-looking camera
KW - feature extraction
UR - http://www.scopus.com/inward/record.url?scp=84962656621&partnerID=8YFLogxK
U2 - 10.1109/URAI.2015.7358941
DO - 10.1109/URAI.2015.7358941
M3 - Conference contribution
AN - SCOPUS:84962656621
T3 - 2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015
SP - 224
EP - 227
BT - 2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015
Y2 - 28 October 2015 through 30 October 2015
ER -