Likelihood Estimation For Slam Using Kinect Device

Zeeshan, Asim and Sorooshian, Shahryar and Bashir, Ahsan (2016) Likelihood Estimation For Slam Using Kinect Device. International Journal of Engineering Applied Sciences and Technology, 1 (5). pp. 24-29. ISSN 2455-2143. (Published)

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In the world of robotics, problems of visual SLAM requires an understanding of loop-closure detection and global localization, having said that in order to perform mapping and localization simultaneously we should be able to efficiently recognize an environment that has been previously visited using the current data from our RGBD camera. In this paper we present an online method to recognize and generate information regarding a previously visited place using the visual bag of words model which relies on Bayesian filtering to calculate the probability of loop closure. We would also demonstrate the robustness and effectiveness of our method by real time loop closure detection for an indoor image sequence using Microsoft Kinect camera

Item Type: Article
Uncontrolled Keywords: SLAM, RGB MCL, FSLAM, EM Algorithm
Subjects: H Social Sciences > H Social Sciences (General)
Faculty/Division: Faculty of Industrial Management
Depositing User: Dr. Shahryar Sorooshian
Date Deposited: 18 Aug 2016 08:22
Last Modified: 28 Feb 2018 02:19
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