Illumination change compensation and extraction of corner feature orientation for upward-looking camera-based SLAM

Chansoo Park; Jae Bok Song

doi:10.1109/URAI.2015.7358941

Illumination change compensation and extraction of corner feature orientation for upward-looking camera-based SLAM

Chansoo Park, Jae Bok Song

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

9 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	224-227
Number of pages	4
ISBN (Electronic)	9781467379700
DOIs	https://doi.org/10.1109/URAI.2015.7358941
Publication status	Published - 2015 Dec 16
Event	12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015 - Goyang City, Korea, Republic of Duration: 2015 Oct 28 → 2015 Oct 30

Publication series

Name	2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015

Other

Other	12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015
Country/Territory	Korea, Republic of
City	Goyang City
Period	15/10/28 → 15/10/30

Bibliographical note

Publisher Copyright:
© 2015 IEEE.

Keywords

SLAM
Upward-looking camera
feature extraction

ASJC Scopus subject areas

Artificial Intelligence
Human-Computer Interaction

Access to Document

10.1109/URAI.2015.7358941

Cite this

Park, C., & Song, J. B. (2015). Illumination change compensation and extraction of corner feature orientation for upward-looking camera-based SLAM. In 2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015 (pp. 224-227). Article 7358941 (2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/URAI.2015.7358941

Illumination change compensation and extraction of corner feature orientation for upward-looking camera-based SLAM. / Park, Chansoo; Song, Jae Bok.
2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 224-227 7358941 (2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015).

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

Park, C & Song, JB 2015, Illumination change compensation and extraction of corner feature orientation for upward-looking camera-based SLAM. in 2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015., 7358941, 2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015, Institute of Electrical and Electronics Engineers Inc., pp. 224-227, 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015, Goyang City, Korea, Republic of, 15/10/28. https://doi.org/10.1109/URAI.2015.7358941

Park C, Song JB. Illumination change compensation and extraction of corner feature orientation for upward-looking camera-based SLAM. In 2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015. Institute of Electrical and Electronics Engineers Inc. 2015. p. 224-227. 7358941. (2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015). doi: 10.1109/URAI.2015.7358941

Park, Chansoo ; Song, Jae Bok. / Illumination change compensation and extraction of corner feature orientation for upward-looking camera-based SLAM. 2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 224-227 (2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015).

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abstract = "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.",

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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.

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Illumination change compensation and extraction of corner feature orientation for upward-looking camera-based SLAM

Abstract

Publication series

Other

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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Cite this