A Low-Cost 3D Local Mapping and Localization Method

Li Bin Lu; Rui Tao; Guo Dong Jin

doi:10.4028/www.scientific.net/AMM.556-562.4089

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 556-562A Low-Cost 3D Local Mapping and Localization...

A Low-Cost 3D Local Mapping and Localization Method

Abstract:

In this paper we presents a 3D local mapping and localization method with kinect camera. The kinect camera is a low-cost sensor which can provide the information of the RGB image and depth image. The inverse depth parameterization model is introduced to the extended Kalman filter (EKF) to study the location Relations between the camera and feature points. A two-step feature matching method is applied to provide information to SLAM algorithm and synthetize the three-dimensional cloud points. The results of experiments validate the effectiveness of of the proposed local mapping and localization method.

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Periodical:

Applied Mechanics and Materials (Volumes 556-562)

Pages:

4089-4092

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.556-562.4089

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Online since:

May 2014

Authors:

Li Bin Lu*, Rui Tao, Guo Dong Jin

Keywords:

EKF, KINECT, SLAM, Two-Step Feature Matching

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* - Corresponding Author

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