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Visual based SLAM using modified PSO

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Main Authors: William, Low, Nagarajan, Ramachandran, Prof. Dr., Sazali, Yaacob, Prof. Dr.
Other Authors: wlwleong@gmail.com
Format: Working Paper
Language:English
Published: Institute of Electrical and Electronics Engineers (IEEE) 2010
Subjects:
Autonomous robot
Map building
Localization
Simultaneous Localization and Mapping (SLAM)
Particle Swarm Optimization (PSO)
Online Access:http://dspace.unimap.edu.my/xmlui/handle/123456789/10224
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spelling my.unimap-102242010-11-16T01:32:00Z Visual based SLAM using modified PSO William, Low Nagarajan, Ramachandran, Prof. Dr. Sazali, Yaacob, Prof. Dr. wlwleong@gmail.com nagarajan@unimap.edu.my s.yaacob@unimap.edu.my Autonomous robot Map building Localization Simultaneous Localization and Mapping (SLAM) Particle Swarm Optimization (PSO) Link to publisher’s homepage at http://ieeexplore.ieee.org/ Simultaneous Localization and Mapping (SLAM) addresses the problem of a robot navigating and acquiring spatial models of initially unknown environments, without an absolute localization means. To solve this problem, we propose a mapping system that builds feature-based geometrical maps by applying a modified Particle Swarm Optimization (PSO) algorithm. Particles are defined as the location of individual features in the environment where the size of the swarm increases as the features are reobserved at different positions. PSO adjusts the velocity and location of particles towards a target (feature location) as the particles move around the constrained 2- dimensional search space. Finally, the particles will converge around an optimum feature location. The mobile robot is also localized with respect to this map simultaneously. It is demonstrated that accurate feature locations can be obtained using the proposed technique. 2010-11-16T01:32:00Z 2010-11-16T01:32:00Z 2010-05-21 Working Paper p.1-5 978-1-4244-7121-8 http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5545267 http://hdl.handle.net/123456789/10224 en Proceedings of the 6th International Colloquium on Signal Processing and Its Applications (CSPA) 2010 Institute of Electrical and Electronics Engineers (IEEE)
institution Universiti Malaysia Perlis
building UniMAP Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Perlis
content_source UniMAP Library Digital Repository
url_provider http://dspace.unimap.edu.my/
language English
topic Autonomous robot
Map building
Localization
Simultaneous Localization and Mapping (SLAM)
Particle Swarm Optimization (PSO)
spellingShingle Autonomous robot
Map building
Localization
Simultaneous Localization and Mapping (SLAM)
Particle Swarm Optimization (PSO)
William, Low
Nagarajan, Ramachandran, Prof. Dr.
Sazali, Yaacob, Prof. Dr.
Visual based SLAM using modified PSO
description Link to publisher’s homepage at http://ieeexplore.ieee.org/
author2 wlwleong@gmail.com
author_facet wlwleong@gmail.com
William, Low
Nagarajan, Ramachandran, Prof. Dr.
Sazali, Yaacob, Prof. Dr.
format Working Paper
author William, Low
Nagarajan, Ramachandran, Prof. Dr.
Sazali, Yaacob, Prof. Dr.
author_sort William, Low
title Visual based SLAM using modified PSO
title_short Visual based SLAM using modified PSO
title_full Visual based SLAM using modified PSO
title_fullStr Visual based SLAM using modified PSO
title_full_unstemmed Visual based SLAM using modified PSO
title_sort visual based slam using modified pso
publisher Institute of Electrical and Electronics Engineers (IEEE)
publishDate 2010
url http://dspace.unimap.edu.my/xmlui/handle/123456789/10224
_version_ 1643789790966972416
score 13.222552

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