TY - GEN
T1 - Research on 3D reconstruction for robot based on SIFT feature
AU - Zhong, Qiubo
AU - Jie, Zhao
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/12/4
Y1 - 2014/12/4
N2 - On the basis of only visual and odometer, a robust perception model is established to extract environmental features through effective fixed scale feature-transformation method, and updated feature by unscented Kalman filtering. The scale invariant feature transform (SIFT) is studied for 3D reconstruction, and a fast feature matching algorithm based on SIFT is proposed. A map representation method using SIFT features is also propounded, which is more convenient for environment recognition, robot localization and makes the data association map building much easier as well than the maps using simple features such as Harris corners and edges. The results of experiment show that this method can improve the success rate and precision of robot localization.
AB - On the basis of only visual and odometer, a robust perception model is established to extract environmental features through effective fixed scale feature-transformation method, and updated feature by unscented Kalman filtering. The scale invariant feature transform (SIFT) is studied for 3D reconstruction, and a fast feature matching algorithm based on SIFT is proposed. A map representation method using SIFT features is also propounded, which is more convenient for environment recognition, robot localization and makes the data association map building much easier as well than the maps using simple features such as Harris corners and edges. The results of experiment show that this method can improve the success rate and precision of robot localization.
KW - 3D reconstruction
KW - Map representation
KW - Scale invariant feature transform
UR - https://www.scopus.com/pages/publications/84937130692
U2 - 10.1109/WARTIA.2014.6976437
DO - 10.1109/WARTIA.2014.6976437
M3 - 会议稿件
AN - SCOPUS:84937130692
T3 - Proceedings - 2014 IEEE Workshop on Advanced Research and Technology in Industry Applications, WARTIA 2014
SP - 976
EP - 979
BT - Proceedings - 2014 IEEE Workshop on Advanced Research and Technology in Industry Applications, WARTIA 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE Workshop on Advanced Research and Technology in Industry Applications, WARTIA 2014
Y2 - 29 September 2014 through 30 September 2014
ER -