Data Association Using Visual Object Recognition for EKF-SLAM in Home Environment

  title={Data Association Using Visual Object Recognition for EKF-SLAM in Home Environment},
  author={SungHwan Ahn and Minyong Choi and Jinwoo Choi and Wan Kyun Chung},
  journal={2006 IEEE/RSJ International Conference on Intelligent Robots and Systems},
Reliable data association is crucial to localization and map building for mobile robot applications. For that reason, many mobile robots tend to choose vision-based SLAM solutions. In this paper, a SLAM scheme based on visual object recognition, not just a scene matching, in home environment is proposed without using artificial landmarks. For the object-based SLAM, the following algorithms are suggested: 1) a novel local invariant feature extraction by combining advantages of multi-scale Harris… CONTINUE READING
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