A visual-SLAM for first person vision and mobile robots

机译：适用于第一人称视觉和移动机器人的visual-SLAM

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SLAM(Simultaneous Localization and Mapping) is one of the core subjects in computer vision and robotics. In order to avoid the effects of noise, SLAM systems need devises to remove the moving object such as human beings and cars in real-world environment. In this paper, we propose a method which excludes dynamic features and generate a map in crowded environment, called ICGM2.5. Experiments were conducted in indoor and outdoor crowded real environments. Experimental results show that our approach has superior performance compared to conventional approaches in terms of accuracy.

机译：SLAM（同时定位和地图绘制）是计算机视觉和机器人技术的核心主题之一。为了避免噪声的影响，SLAM系统需要采取一些措施来去除现实环境中的移动物体，例如人和汽车。在本文中，我们提出了一种排除动态特征并在拥挤的环境中生成地图的方法，称为ICGM2.5。实验是在室内和室外拥挤的真实环境中进行的。实验结果表明，与传统方法相比，我们的方法具有更高的性能。

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《IAPR International Conference on Machine Vision Applications》|2017年|73-76|共4页
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Takahiro Terashima; Osamu Hasegawa;
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Gravity; Visualization; Simultaneous localization and mapping; Cameras; Robustness; Error analysis; Organizations;

机译：重力;可视化;同时定位和制图;相机;稳健性;误差分析;组织;

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专利

1. IMPROVED METHOD FOR STEREO VISION-BASED HUMAN DETECTION FOR A MOBILE ROBOT FOLLOWING A TARGET PERSON [J] . Ali B., Ayaz Y., Jamil M., South African Journal of Industrial Engineering . 2015,第1期

机译：基于立体视觉的移动机器人跟踪目标人的改进方法
2. IMPROVED METHOD FOR STEREO VISION-BASED HUMAN DETECTION FOR A MOBILE ROBOT FOLLOWING A TARGET PERSON [J] . Badar Ali, Yasar Ayaz, Mohsin Jamil, South African journal of industrial engineering . 2015,第1期

机译：基于立体视觉的移动机器人跟踪目标人的改进方法
3. Active stereo vision-based mobile robot navigation for person tracking [J] . V. Enescu, G. De Cubber, K. Cauwerts, Integrated Computer-Aided Engineering . 2006,第3期

机译：基于主动立体视觉的移动机器人导航，用于人员跟踪
4. A visual-SLAM for first person vision and mobile robots [C] . Takahiro Terashima, Osamu Hasegawa IAPR International Conference on Machine Vision Applications . 2017

机译：一个用于第一人称视觉和移动机器人的视觉冲动
5. Robust Vision-Aided Self-Localization of Mobile Robots [D] . Lindgren, Kyle. 2020

机译：移动机器人的强大视觉辅助自定位
6. A Multi-Modal Person Perception Framework for Socially Interactive Mobile Service Robots [O] . Steffen Müller, Tim Wengefeld, Thanh Quang Trinh, 2020

机译：社交互动移动服务机器人的多模式人感知框架
7. Development of a Bio-inspired Vision System for Mobile Micro-robots:In this paper, we present a new bio-inspired vision system for mobile micro-robots. The processing method takes inspiration from vision of locusts in detecting the fast approaching objects. Research suggested that locusts use wide-field visual neuron called the lobula giant movement detector to respond to imminent collisions. We employed the locusts' vision mechanism to motion control of a mobile robot. The selected image processing method is implemented on a developed extension module using a low-cost and fast ARM processor. The vision module is placed on top of a micro-robot to control its trajectory and to avoid obstacles. The observed results from several performed experiments demonstrated that the developed extension module and the inspired vision system are feasible to employ as a vision module for obstacle avoidance and motion control. [O] . Hu, Cheng, Arvin, Farshad, Yue, Shigang 2014

机译：开发用于移动微型机器人的生物启发视觉系统：在本文中，我们提出了一种用于移动微型机器人的新型生物启发视觉系统。该处理方法从检测快速接近物体的蝗虫视觉中获取灵感。研究表明，蝗虫使用称为小叶巨型运动探测器的宽视野神经元来应对即将发生的碰撞。我们采用蝗虫的视觉机制来控制移动机器人。所选择的图像处理方法使用低成本且快速的aRm处理器在开发的扩展模块上实现。视觉模块放置在微型机器人的顶部以控制其轨迹并避开障碍物。几次进行的实验观察到的结果表明，开发的扩展模块和灵感视觉系统可用作避障和运动控制的视觉模块。

A visual-SLAM for first person vision and mobile robots

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