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http://dx.doi.org/10.5391/JKIIS.2011.21.3.296

Simultaneous Localization and Mapping For Swarm Robot  

Mun, Hyun-Su (군산대학교 제어로봇공학과)
Shin, Sang-Geun (한국폴리텍 김제대학)
Joo, Young-Hoon (군산대학교 제어로봇공학과)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.21, no.3, 2011 , pp. 296-301 More about this Journal
Abstract
This paper deals with the simultaneous localization and mapping system using cooperative robot. For recognizing environment, swarm robot uses the ultrasonic sensors and vision sensor. Ultrasonic sensors measure the distance information, and vision sensor recognizes the predefined landmark. we used SURF with excellent quality and fast matching in order to recognize landmark. Due to measurement error of sensors, we fusion them using particle filter for accurate localization and mapping. Finally, we show the feasibility of the proposed method through some experiments.
Keywords
Cooperative robot; vision sensor; Speeded Up Robust Features; Particle filter; Localization and Mapping;
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Times Cited By KSCI : 1  (Citation Analysis)
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