Sensor Fusion of Monocular Cameras and Laser Rangefinders for Line-Based Simultaneous Localization and Mapping (SLAM) Tasks in Autonomous Mobile Robots 英文参考文献.docVIP

Sensors 2012, 12, 429-452; doi:10.3390/s120100429 OPEN ACCESS sensors ISSN 1424-8220 /journal/sensors Article Sensor Fusion of Monocular Cameras and Laser Rangefinders for Line-Based Simultaneous Localization and Mapping (SLAM) Tasks in Autonomous Mobile Robots Xinzheng Zhang 1, Ahmad B. Rad 2,* and Yiu-Kwong Wong 3 1 School of Electrical and Information Engineering, Jinan University, Zhuhai 519070, Guangdong, China; E-Mail: ee.xz.zhang@ 2 School of Engineering Science, Mechatronic System Engineering, Simon Fraser University, 250-13450, 102 Avenue, Surrey, BC, V3T 0A3, Canada 3 Department of Electrical Engineering, The Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong; E-Mail: eeykwong@.hk * Author to whom correspondence should be addressed; E-Mail: arad@sfu.ca; Tel.: +1-778-782-8512. Received: 16 November 2011; in revised form: 24 December 2011 / Accepted: 29 December 2011 / Published: 4 January 2012 Abstract: This paper presents a sensor fusion strategy applied for Simultaneous Localization and Mapping (SLAM) in dynamic environments. The designed approach consists of two features: (i) the first one is a fusion module which synthesizes line segments obtained from laser rangefinder and line features extracted from monocular camera. This policy eliminates any pseudo segments that appear from any momentary pause of dynamic objects in laser data. (ii) The second characteristic is a modified multi-sensor point estimation fusion SLAM (MPEF-SLAM) that incorporates two individual Extended Kalman Filter (EKF) based SLAM algorithms: monocular and laser SLAM. The error of the localization in fused SLAM is reduced compared with those of individual SLAM. Additionally, a new data association technique based on the homography transformation matrix is developed for monocular SLAM. This data association method relaxes the pleonastic computation. The experimental results validate the performance of the pr