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Mathematical and Computational Applications is published by MDPI from Volume 21 Issue 1 (2016). Previous articles were published by another publisher in Open Access under a CC-BY (or CC-BY-NC-ND) licence, and they are hosted by MDPI on mdpi.com as a courtesy and upon agreement with Association for Scientific Research (ASR).
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Article

Performance Improvement in Vslam Using Stabilized Feature Points

by
Caner Şahin
* and
Mustafa Ünel
*
Faculty of Engineering and Natural Sciences, Sabanci University, 34956, Orhanlı- Tuzla, Istanbul, Turkey
*
Authors to whom correspondence should be addressed.
Math. Comput. Appl. 2013, 18(3), 361-372; https://doi.org/10.3390/mca18030361
Published: 1 December 2013
Versions Notes

Abstract

Simultaneous localization and mapping (SLAM) is the main prerequisite for the autonomy of a mobile robot. In this paper, we present a novel method that enhances the consistency of the map using stabilized corner features. The proposed method integrates template matching based video stabilization and Harris corner detector. Extracting Harris corner features from stabilized video consistently increases the accuracy of the localization. Data coming from a video camera and odometry are fused in an Extended Kalman Filter (EKF) to determine the pose of the robot and build the map of the environment. Simulation results validate the performance improvement obtained by the proposed technique.
Keywords: vSLAM; Video stabilization; Feature extraction; Extended Kalman Filter vSLAM; Video stabilization; Feature extraction; Extended Kalman Filter

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MDPI and ACS Style

Şahin, C.; Ünel, M. Performance Improvement in Vslam Using Stabilized Feature Points. Math. Comput. Appl. 2013, 18, 361-372. https://doi.org/10.3390/mca18030361

AMA Style

Şahin C, Ünel M. Performance Improvement in Vslam Using Stabilized Feature Points. Mathematical and Computational Applications. 2013; 18(3):361-372. https://doi.org/10.3390/mca18030361

Chicago/Turabian Style

Şahin, Caner, and Mustafa Ünel. 2013. "Performance Improvement in Vslam Using Stabilized Feature Points" Mathematical and Computational Applications 18, no. 3: 361-372. https://doi.org/10.3390/mca18030361

APA Style

Şahin, C., & Ünel, M. (2013). Performance Improvement in Vslam Using Stabilized Feature Points. Mathematical and Computational Applications, 18(3), 361-372. https://doi.org/10.3390/mca18030361

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