Visual based SLAM using modified PSO
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Institute of Electrical and Electronics Engineers (IEEE)
2010
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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) |
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Malaysia |
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Universiti Malaysia Perlis |
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| 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 |