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Visual-Attention Using Corner Feature Based SLAM in Indoor Environment  

Shin, Yong-Min (Department of Intelligent Robot Engineering, Hanyang University)
Yi, Chu-Ho (Division of Electrical Computer Engineering, Hanyang University)
Suh, Il-Hong (Collage of Information and Communications, Hanyang University)
Choi, Byung-Uk (Collage of Information and Communications, Hanyang University)
Publication Information
Journal of the Institute of Electronics Engineers of Korea SC / v.49, no.4, 2012 , pp. 90-101 More about this Journal
Abstract
The landmark selection is crucial to successful perform in SLAM(Simultaneous Localization and Mapping) with a mono camera. Especially, in unknown environment, automatic landmark selection is needed since there is no advance information about landmark. In this paper, proposed visual attention system which modeled human's vision system will be used in order to select landmark automatically. The edge feature is one of the most important element for attention in previous visual attention system. However, when the edge feature is used in complicated indoor area, the response of complicated area disappears, and between flat surfaces are getting higher. Also, computation cost increases occurs due to the growth of the dimensionality since it uses the responses for 4 directions. This paper suggests to use a corner feature in order to solve or prevent the problems mentioned above. Using a corner feature can also increase the accuracy of data association by concentrating on area which is more complicated and informative in indoor environments. Finally, this paper will prove that visual attention system based on corner feature can be more effective in SLAM compared to previous method by experiment.
Keywords
Visual attention; Corner feature; SLAM; Automatic landmark selection; Saliency map;
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