Sensor Fusion of Monocular Cameras and Laser Rangefinders for Line-Based Simultaneous Localization and Mapping (SLAM) Tasks in Autonomous Mobile Robots
This paper presents a sensor fusion strategy applied for Simultaneous Localization and Mapping (SLAM) in dynamic environments. The designed approach consists of two features: (i) the first one is a fusion module which synthesizes line segments obtained from laser rangefinder and line features extrac...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2012-01-01
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| Series: | Sensors |
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| Online Access: | http://www.mdpi.com/1424-8220/12/1/429/ |
| _version_ | 1798006264036327424 |
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| author | Xinzheng Zhang Ahmad B. Rad Yiu-Kwong Wong |
| author_facet | Xinzheng Zhang Ahmad B. Rad Yiu-Kwong Wong |
| author_sort | Xinzheng Zhang |
| collection | DOAJ |
| description | This paper presents a sensor fusion strategy applied for Simultaneous Localization and Mapping (SLAM) in dynamic environments. The designed approach consists of two features: (i) the first one is a fusion module which synthesizes line segments obtained from laser rangefinder and line features extracted from monocular camera. This policy eliminates any pseudo segments that appear from any momentary pause of dynamic objects in laser data. (ii) The second characteristic is a modified multi-sensor point estimation fusion SLAM (MPEF-SLAM) that incorporates two individual Extended Kalman Filter (EKF) based SLAM algorithms: monocular and laser SLAM. The error of the localization in fused SLAM is reduced compared with those of individual SLAM. Additionally, a new data association technique based on the homography transformation matrix is developed for monocular SLAM. This data association method relaxes the pleonastic computation. The experimental results validate the performance of the proposed sensor fusion and data association method. |
| first_indexed | 2024-04-11T12:52:04Z |
| format | Article |
| id | doaj.art-ab5d0ff51aca41e5a5b5d267e4e51aa2 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-11T12:52:04Z |
| publishDate | 2012-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-ab5d0ff51aca41e5a5b5d267e4e51aa22022-12-22T04:23:11ZengMDPI AGSensors1424-82202012-01-0112142945210.3390/s120100429Sensor Fusion of Monocular Cameras and Laser Rangefinders for Line-Based Simultaneous Localization and Mapping (SLAM) Tasks in Autonomous Mobile RobotsXinzheng ZhangAhmad B. RadYiu-Kwong WongThis paper presents a sensor fusion strategy applied for Simultaneous Localization and Mapping (SLAM) in dynamic environments. The designed approach consists of two features: (i) the first one is a fusion module which synthesizes line segments obtained from laser rangefinder and line features extracted from monocular camera. This policy eliminates any pseudo segments that appear from any momentary pause of dynamic objects in laser data. (ii) The second characteristic is a modified multi-sensor point estimation fusion SLAM (MPEF-SLAM) that incorporates two individual Extended Kalman Filter (EKF) based SLAM algorithms: monocular and laser SLAM. The error of the localization in fused SLAM is reduced compared with those of individual SLAM. Additionally, a new data association technique based on the homography transformation matrix is developed for monocular SLAM. This data association method relaxes the pleonastic computation. The experimental results validate the performance of the proposed sensor fusion and data association method.http://www.mdpi.com/1424-8220/12/1/429/feature fusionmulti-sensor point estimation fusion (MPEF)homography transform matrixSLAM |
| spellingShingle | Xinzheng Zhang Ahmad B. Rad Yiu-Kwong Wong Sensor Fusion of Monocular Cameras and Laser Rangefinders for Line-Based Simultaneous Localization and Mapping (SLAM) Tasks in Autonomous Mobile Robots Sensors feature fusion multi-sensor point estimation fusion (MPEF) homography transform matrix SLAM |
| title | Sensor Fusion of Monocular Cameras and Laser Rangefinders for Line-Based Simultaneous Localization and Mapping (SLAM) Tasks in Autonomous Mobile Robots |
| title_full | Sensor Fusion of Monocular Cameras and Laser Rangefinders for Line-Based Simultaneous Localization and Mapping (SLAM) Tasks in Autonomous Mobile Robots |
| title_fullStr | Sensor Fusion of Monocular Cameras and Laser Rangefinders for Line-Based Simultaneous Localization and Mapping (SLAM) Tasks in Autonomous Mobile Robots |
| title_full_unstemmed | Sensor Fusion of Monocular Cameras and Laser Rangefinders for Line-Based Simultaneous Localization and Mapping (SLAM) Tasks in Autonomous Mobile Robots |
| title_short | Sensor Fusion of Monocular Cameras and Laser Rangefinders for Line-Based Simultaneous Localization and Mapping (SLAM) Tasks in Autonomous Mobile Robots |
| title_sort | sensor fusion of monocular cameras and laser rangefinders for line based simultaneous localization and mapping slam tasks in autonomous mobile robots |
| topic | feature fusion multi-sensor point estimation fusion (MPEF) homography transform matrix SLAM |
| url | http://www.mdpi.com/1424-8220/12/1/429/ |
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