[1]PU Xingcheng,TAN Shaofeng,ZHANG Yi.Research on the navigation of mobile robots based on the improved FAST algorithm[J].CAAI Transactions on Intelligent Systems,2014,9(4):419-424.[doi:10.3969/j.issn.1673-4785.201305076]
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Research on the navigation of mobile robots based on the improved FAST algorithm

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 9 Number of periods: 2014 4 Page number: 419-424 Column: 学术论文—智能系统 Public date: 2014-08-25
Title:
Research on the navigation of mobile robots based on the improved FAST algorithm
Author(s):
PU Xingcheng1;  TAN Shaofeng2;  ZHANG Yi2
1. Mathematics and Physics College, Chongqing University of Posts and Telecommunications, Chongqing 400065, China;
2. Automation College, Chongqing University of Posts and Telecommunications, Chongqing 400065, China
Keywords:
mobile robot; monocular vision; FAST algorithm; extended Kalman filter; RANSAC algorithm; robot navigation; robustness
CLC:
TP24
DOI:
10.3969/j.issn.1673-4785.201305076
Abstract:
In order to solve the problem of poor real-time performance and weak robustness of mobile robots during monocular vision navigation, a new improved navigational algorithm is put forward on the basis of the FAST algorithm and the one point RANSAC algorithm for mobile robots. This improved new algorithm is made up of three main steps. Firstly, the mobile robots use the FAST algorithm to collect the information by camera. Secondly,in the process of matching, we use the improved RANSAC algorithm to reject the mismatching. Finally, a 3-D map of the environment is built. Experiments show that this method can improve the real-time performance and robustness effectively regarding the aspects of positioning and navigation of the mobile robots.
References:
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