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Please use this identifier to cite or link to this item: http://dspace.unimap.edu.my:80/dspace/handle/123456789/10224

Title: Visual based SLAM using modified PSO
Authors: William, Low
Nagarajan, Ramachandran, Prof. Dr.
Sazali, Yaacob, Prof. Dr.
???metadata.dc.contributor.url???: wlwleong@gmail.com
nagarajan@unimap.edu.my
s.yaacob@unimap.edu.my
Keywords: Autonomous robot;Map building;Localization;Simultaneous Localization and Mapping (SLAM);Particle Swarm Optimization (PSO)
Issue Date: 21-May-2010
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Citation: p.1-5
Series/Report no.: Proceedings of the 6th International Colloquium on Signal Processing and Its Applications (CSPA) 2010
Abstract: 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.
Description: Link to publisher’s homepage at http://ieeexplore.ieee.org/
URI: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5545267
http://hdl.handle.net/123456789/10224
ISBN: 978-1-4244-7121-8
Appears in Collections:Conference Papers
Sazali Yaacob, Prof. Dr.
Ramachandran, Nagarajan, Prof. Dr.

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