자기위치결정을 위한 SIFT 기반의 특징 지도 갱신 알고리즘

초록

This paper presents an algorithm in which a feaure map is built and localization of a mobile robot is carried out for indoor environments. The algorithm proposes an approach which extracts scale-invariant features of natural landmarks from a pair of stereo images. The feature map is built using these features and updated by merging new landmarks into the map and removing transient landmarks over time. And the position of the robot in the map is estimated by comparing with the map in a database by means of an Extended Kalman filter.This algorithm is implemented and tested using a Pioneer 2-DXE and preliminary results are presented in this paper.