Pub Date : 2010-12-17DOI: 10.1109/ICCAS.2010.5670119
Sangmoon Lee, Youngjin Park, Youn-sik Park
Sound source localization (SSL) is one of the important techniques used in various engineering fields such as monitoring and surveillance system, and so on. When SSL is utilized in robot auditory system, it is essential for Human-Robot Interaction (HRI) in that robot can recognize its working environment and what direction a speaker is locating. Generalized cross correlation (GCC) function has been frequently used for SSL due to its fast computation and less requirement of high system resources. Artificial ear which is the robot auditory hardware we are dealing with consists of 2 microphones and a single pinna structure. This is locating on the both sides of robot head where free field condition can't be applicable due to reflected wave caused by robot platform such as robot shoulder, etc. This paper has focused on modification of spatially mapped GCC function, which was proposed by B. Kwon, for application into artificial ear structure. We proposed cleansed PHAT GCC function for use in spatially mapped GCC method. Cleansed PHAT GCC function combines cleansing method and conventional PHAT GCC function for eliminating reflected wave which causes free field condition break down. Simulation results using proposed cleansed PHAT GCC function showed that 93% SSL performance is obtainable when a single sound source exists.
{"title":"Cleansed PHAT GCC based sound source localization","authors":"Sangmoon Lee, Youngjin Park, Youn-sik Park","doi":"10.1109/ICCAS.2010.5670119","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5670119","url":null,"abstract":"Sound source localization (SSL) is one of the important techniques used in various engineering fields such as monitoring and surveillance system, and so on. When SSL is utilized in robot auditory system, it is essential for Human-Robot Interaction (HRI) in that robot can recognize its working environment and what direction a speaker is locating. Generalized cross correlation (GCC) function has been frequently used for SSL due to its fast computation and less requirement of high system resources. Artificial ear which is the robot auditory hardware we are dealing with consists of 2 microphones and a single pinna structure. This is locating on the both sides of robot head where free field condition can't be applicable due to reflected wave caused by robot platform such as robot shoulder, etc. This paper has focused on modification of spatially mapped GCC function, which was proposed by B. Kwon, for application into artificial ear structure. We proposed cleansed PHAT GCC function for use in spatially mapped GCC method. Cleansed PHAT GCC function combines cleansing method and conventional PHAT GCC function for eliminating reflected wave which causes free field condition break down. Simulation results using proposed cleansed PHAT GCC function showed that 93% SSL performance is obtainable when a single sound source exists.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115362840","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-12-17DOI: 10.1109/ICCAS.2010.5669916
J. Jung, K. Lee, H. Park, Yung Ho Koh, J. Bae, M. Lee
In this paper, we propose an obstacle avoidance system on based vision sensor for an autonomous mobile robot. For real-time turn angle correction, we obtain the state equation of a mobile robot from input-output continuous data. Each individual image pixel is classified as belonging either to an obstacle or to a non-obstacle based on its color property (HSI color model). The HSI color model is less sensitive to illumination changes than the RGB color model. According to proper conditions and reference zones, we chose a path area, a navigation point, and a turn angle. This method uses a single color camera.
{"title":"Vision-based obstacle avoidance system for autonomous mobile robot in outdoor environment","authors":"J. Jung, K. Lee, H. Park, Yung Ho Koh, J. Bae, M. Lee","doi":"10.1109/ICCAS.2010.5669916","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5669916","url":null,"abstract":"In this paper, we propose an obstacle avoidance system on based vision sensor for an autonomous mobile robot. For real-time turn angle correction, we obtain the state equation of a mobile robot from input-output continuous data. Each individual image pixel is classified as belonging either to an obstacle or to a non-obstacle based on its color property (HSI color model). The HSI color model is less sensitive to illumination changes than the RGB color model. According to proper conditions and reference zones, we chose a path area, a navigation point, and a turn angle. This method uses a single color camera.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115398179","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-12-17DOI: 10.1109/ICCAS.2010.5670280
K. Kim, Taewon Nam, Yang Na
FSI occurring in the ink transfer process from the printing roll to the moving web was investigated using a CFD technique for the application in R2R printed electronics. Analysis for the flow-structure interaction was conducted to assess the deflection and stress distributions of the web. In order to make the present analysis more realistic, the metallic ink was idealized by a non-Newtonian fluid and, the numerical geometry and the ink properties were selected to match those of the real printing production system. Our numerical results showed that both web handling speed and non-Newtonian assumption significantly influenced the shape of the transferred ink. As the web moving speed increased beyond 5m/min, a significant distortion of the transferred ink shape occurred. Also, non-negligible web deflection occurs in all the geometries considered in the present work but the ratio of the web deflection to the line width gets smaller as the web handling speed becomes higher.
{"title":"Analysis of ink transfer process for R2R printing applications with non-Newtonian ink property","authors":"K. Kim, Taewon Nam, Yang Na","doi":"10.1109/ICCAS.2010.5670280","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5670280","url":null,"abstract":"FSI occurring in the ink transfer process from the printing roll to the moving web was investigated using a CFD technique for the application in R2R printed electronics. Analysis for the flow-structure interaction was conducted to assess the deflection and stress distributions of the web. In order to make the present analysis more realistic, the metallic ink was idealized by a non-Newtonian fluid and, the numerical geometry and the ink properties were selected to match those of the real printing production system. Our numerical results showed that both web handling speed and non-Newtonian assumption significantly influenced the shape of the transferred ink. As the web moving speed increased beyond 5m/min, a significant distortion of the transferred ink shape occurred. Also, non-negligible web deflection occurs in all the geometries considered in the present work but the ratio of the web deflection to the line width gets smaller as the web handling speed becomes higher.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"241 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115504169","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-12-17DOI: 10.1109/ICCAS.2010.5670203
I. Whang, Sung-Jin Cho, Dong-gyun Choe
In modern marine range tracking systems, both Doppler radar and range sensors are often used to enhance the detection and tracking performance against sea clutters. Due to the delays in communication links, however, the measurements of the sensors do not arrive simultaneously to the data processor where the tracking filter operates. Moreover, the magnitudes of the delays vary irregularly. To cope with this problem of uncertain time delays, in this paper, we propose a new range tracking filter algorithm by adding a ZSB (zero-scan-back) MAP (maximum a posteriori) delay estimator to conventional Kalman tracking filter. Computer simulations are carried out to demonstrate the performance of the proposed filter.
在现代海上距离跟踪系统中，通常采用多普勒雷达和距离传感器来提高对海上杂波的探测和跟踪性能。然而，由于通信链路的延迟，传感器的测量值不能同时到达跟踪滤波器工作的数据处理器。此外，延误的程度也不规律地变化。为了解决这一不确定时延问题，本文提出了一种新的距离跟踪滤波算法，该算法通过在传统的卡尔曼跟踪滤波中加入ZSB (zero-scan-back) MAP (maximum a posterori)延迟估计器。计算机仿真验证了所提滤波器的性能。
{"title":"Range tracking filter using measurements with uncertain delays","authors":"I. Whang, Sung-Jin Cho, Dong-gyun Choe","doi":"10.1109/ICCAS.2010.5670203","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5670203","url":null,"abstract":"In modern marine range tracking systems, both Doppler radar and range sensors are often used to enhance the detection and tracking performance against sea clutters. Due to the delays in communication links, however, the measurements of the sensors do not arrive simultaneously to the data processor where the tracking filter operates. Moreover, the magnitudes of the delays vary irregularly. To cope with this problem of uncertain time delays, in this paper, we propose a new range tracking filter algorithm by adding a ZSB (zero-scan-back) MAP (maximum a posteriori) delay estimator to conventional Kalman tracking filter. Computer simulations are carried out to demonstrate the performance of the proposed filter.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"326 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115670650","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-12-17DOI: 10.1109/ICCAS.2010.5669930
J. Pi, Donghun Lee, Hee-Seob Kim, H. Bang
Nowadays, Earth observation satellites are widely used to acquire high quality, and the satellites should have more observation missions at the same time. In this case, it is useful to develop a systematic command generation method for satellite pointing to acquire wide area image efficiently. In this paper, three efficient methods are proposed to operate Earth observation satellite attitude pointing missions. Analysis of each method with numerical simulation results is also discussed.
{"title":"Operational study for Earth observation satellites by minimum command effort","authors":"J. Pi, Donghun Lee, Hee-Seob Kim, H. Bang","doi":"10.1109/ICCAS.2010.5669930","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5669930","url":null,"abstract":"Nowadays, Earth observation satellites are widely used to acquire high quality, and the satellites should have more observation missions at the same time. In this case, it is useful to develop a systematic command generation method for satellite pointing to acquire wide area image efficiently. In this paper, three efficient methods are proposed to operate Earth observation satellite attitude pointing missions. Analysis of each method with numerical simulation results is also discussed.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"495 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123058850","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-12-17DOI: 10.1109/ICCAS.2010.5670225
Jae Young Lee, Jin Bae Park, Y. Choi
This paper proposes a novel policy-iteration-based adaptive optimal scheme for uncertain continuous-time linear systems with excitation signals. The proposed method can solve the related linear quadratic optimal control problem in online fashion exactly and safely. In order to maintain persistence excitation condition, the controller injects the small excitation signals to the system. For this linear system with excitation signals, the policy iteration (PI) technique is investigated to adaptively find the optimal control law in the presence of both internal uncertainties and known excitation signals. For the proposed PI technique, the stability of the closed-loop system and convergence to the optimal solution are mathematically proven. Numerical simulations are carried out to verify the effectiveness of the proposed method.
{"title":"Policy-iteration-based adaptive optimal control for uncertain continuous-time linear systems with excitation signals","authors":"Jae Young Lee, Jin Bae Park, Y. Choi","doi":"10.1109/ICCAS.2010.5670225","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5670225","url":null,"abstract":"This paper proposes a novel policy-iteration-based adaptive optimal scheme for uncertain continuous-time linear systems with excitation signals. The proposed method can solve the related linear quadratic optimal control problem in online fashion exactly and safely. In order to maintain persistence excitation condition, the controller injects the small excitation signals to the system. For this linear system with excitation signals, the policy iteration (PI) technique is investigated to adaptively find the optimal control law in the presence of both internal uncertainties and known excitation signals. For the proposed PI technique, the stability of the closed-loop system and convergence to the optimal solution are mathematically proven. Numerical simulations are carried out to verify the effectiveness of the proposed method.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116714511","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-12-17DOI: 10.1109/ICCAS.2010.5670183
W. Sriratana, Kreangkrai Nakmee, L. Tanachaikhan
This study presents the design of subsidence monitoring system for industrial machine alignment based on magnetic field method. The system was developed to demonstrate the level of land subsidence in the area of the industrial machine located. A computer was used to collect the data and to display the angles of subsidence over operation period. The measurement module consists of two thin-and-curve permanent magnets (10 mm × 41.5 mm × 1.5 mm) with the outer radius of 24 mm, the curve angle of 120 degree, and the maximum magnetic density of 0.23 Tesla. The gap between these two magnets was 12 mm to generate the magnetic tension force. The sensing module was Hall Generator placed perpendicularly to the magnetic fluxes which can generate the output voltage as a function of subsidence angle and magnetic density on X axis and Z (vertical) axis with the resolution of 100 mV per degree. There were two ranges of measurement according to the angle resolution: -20 to 20 degree at 1 degree of resolution per step and -6 to 6 degree at 0.05 degree of resolution per step.
提出了一种基于磁场法的工业机械对中沉降监测系统的设计。该系统的开发是为了展示工业机器所在地区的地面沉降水平。利用计算机收集数据，并显示整个作业期间的沉降角度。测量模块由两块薄曲线永磁体(10mm × 41.5 mm × 1.5 mm)组成，外半径24mm，曲线角120度，最大磁密度0.23特斯拉。这两个磁体之间的间隙为12mm，以产生磁张力。传感模块是垂直于磁通量的霍尔发生器，在X轴和Z轴(垂直)上产生与沉降角和磁密度有关的输出电压，分辨率为100 mV /度。根据角度分辨率有两个测量范围:-20至20度，每步分辨率为1度;-6至6度，每步分辨率为0.05度。
{"title":"Subsidence monitoring system for industrial machines based on magnetic field method","authors":"W. Sriratana, Kreangkrai Nakmee, L. Tanachaikhan","doi":"10.1109/ICCAS.2010.5670183","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5670183","url":null,"abstract":"This study presents the design of subsidence monitoring system for industrial machine alignment based on magnetic field method. The system was developed to demonstrate the level of land subsidence in the area of the industrial machine located. A computer was used to collect the data and to display the angles of subsidence over operation period. The measurement module consists of two thin-and-curve permanent magnets (10 mm × 41.5 mm × 1.5 mm) with the outer radius of 24 mm, the curve angle of 120 degree, and the maximum magnetic density of 0.23 Tesla. The gap between these two magnets was 12 mm to generate the magnetic tension force. The sensing module was Hall Generator placed perpendicularly to the magnetic fluxes which can generate the output voltage as a function of subsidence angle and magnetic density on X axis and Z (vertical) axis with the resolution of 100 mV per degree. There were two ranges of measurement according to the angle resolution: -20 to 20 degree at 1 degree of resolution per step and -6 to 6 degree at 0.05 degree of resolution per step.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116800433","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-12-17DOI: 10.1109/ICCAS.2010.5669830
Bonggun Shin, Taesoo Kim, Sungho Jo
This work presents that, only using non-invasively captured brain signals, a person can navigate an electric wheelchair with no serious training for a long term. Only two electrodes are set on the scalp non-invasively to detect a P300 EEG signal and a reference signal. A simple signal processing interprets the measured signals to decide a movement direction of the wheelchair. The whole devices are loaded on the wheelchair. No external system is required. The experimental results demonstrate the feasibility of the simple BCI processing to achieve reasonable performance.
{"title":"Non-invasive brain signal interface for a wheelchair navigation","authors":"Bonggun Shin, Taesoo Kim, Sungho Jo","doi":"10.1109/ICCAS.2010.5669830","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5669830","url":null,"abstract":"This work presents that, only using non-invasively captured brain signals, a person can navigate an electric wheelchair with no serious training for a long term. Only two electrodes are set on the scalp non-invasively to detect a P300 EEG signal and a reference signal. A simple signal processing interprets the measured signals to decide a movement direction of the wheelchair. The whole devices are loaded on the wheelchair. No external system is required. The experimental results demonstrate the feasibility of the simple BCI processing to achieve reasonable performance.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120974988","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-12-17DOI: 10.1109/ICCAS.2010.5669805
Sanghun Pyo, Abdullah Özer, Jungwon Yoon
The use of robotic assistive devices and exoskeletons to supply movement therapy for the rehabilitation of patients following variety of diseases is noticeably growing presently. In order to provide consistent therapy as well as walking assistance, we are developing a wearable lower-limb exoskeleton robot with an adaptive foot device for better walking ability and enhanced stability. In this paper, we focus on the mechanical design of an active knee orthosis. The proposed kinematic design is inspired by the knee biomechanics. Therefore, it is expected that the proposed configuration will help to provide more natural gait during theraphy sessions of patients or in daily use as a sophisticated system. It is based on efficiently controlling the knee motions with hybrid actuations. The two actuators will be implemented with the proposed design; one as hamstring and the other as quadriceps. It is anticipated that the new system will offer an enhanced walking capacity for the patients.
{"title":"A novel design for lower extremity gait rehabilitation exoskeleton inspired by biomechanics","authors":"Sanghun Pyo, Abdullah Özer, Jungwon Yoon","doi":"10.1109/ICCAS.2010.5669805","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5669805","url":null,"abstract":"The use of robotic assistive devices and exoskeletons to supply movement therapy for the rehabilitation of patients following variety of diseases is noticeably growing presently. In order to provide consistent therapy as well as walking assistance, we are developing a wearable lower-limb exoskeleton robot with an adaptive foot device for better walking ability and enhanced stability. In this paper, we focus on the mechanical design of an active knee orthosis. The proposed kinematic design is inspired by the knee biomechanics. Therefore, it is expected that the proposed configuration will help to provide more natural gait during theraphy sessions of patients or in daily use as a sophisticated system. It is based on efficiently controlling the knee motions with hybrid actuations. The two actuators will be implemented with the proposed design; one as hamstring and the other as quadriceps. It is anticipated that the new system will offer an enhanced walking capacity for the patients.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"61 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121013099","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-12-17DOI: 10.1109/ICCAS.2010.5669849
Joong-Tae Park, Jae-Bok Song
This paper describes an exploration method based on sonar sensors and a stereo camera. To build an accurate map in unknown environments during exploration, SLAM (Simultaneous Localization and Mapping) problem should be solved. Therefore, a salient visual feature (SVF) extraction method is proposed for SLAM. The key concept of SVF extraction method is to extract meaningful features of environments using SIFT keypoints. The extracted SVFs are applied to the EKF (Extended Kalman Filter)-based SLAM framework. This proposed method was verified by various experiments which show that the robot could build an accurate map autonomously with sonar sensors and a stereo camera in various home environments.
本文介绍了一种基于声纳传感器和立体摄像机的勘探方法。为了在勘探过程中建立未知环境下的精确地图，必须解决SLAM (Simultaneous Localization and Mapping)问题。为此，提出了一种针对SLAM的显著视觉特征(SVF)提取方法。svm提取方法的关键思想是利用SIFT关键点提取环境中有意义的特征。将提取的svm应用到基于扩展卡尔曼滤波的SLAM框架中。通过各种实验验证了该方法的有效性，结果表明该机器人可以在各种家庭环境中利用声纳传感器和立体摄像机自主绘制精确地图。
{"title":"Low-cost sensor-based exploration in home environments with salient visual features","authors":"Joong-Tae Park, Jae-Bok Song","doi":"10.1109/ICCAS.2010.5669849","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5669849","url":null,"abstract":"This paper describes an exploration method based on sonar sensors and a stereo camera. To build an accurate map in unknown environments during exploration, SLAM (Simultaneous Localization and Mapping) problem should be solved. Therefore, a salient visual feature (SVF) extraction method is proposed for SLAM. The key concept of SVF extraction method is to extract meaningful features of environments using SIFT keypoints. The extracted SVFs are applied to the EKF (Extended Kalman Filter)-based SLAM framework. This proposed method was verified by various experiments which show that the robot could build an accurate map autonomously with sonar sensors and a stereo camera in various home environments.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"805 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123287996","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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