%0 Journal Article
%T A Visual SLAM Algorithm Based on Monocular Vision<br>基于单目视觉的SLAM算法研究
%A 温丰
%A 柴晓杰
%A 朱智平
%A 董小明
%A 邹伟
%A 原魁
%J 系统科学与数学
%D 2010
%I 
%X This paper presents a monocular vision and odometer based SLAM algorithm, making use of a novel artificial landmark which is called MR (Mobile Robot) code. A brief introduction of MR code system is given. A practical error model for odometric position estimation is proposed on the basis of analysis and verification of the motion model and observation model. During the movement of the robot, visual information is fused with odometric information by extended Kalman filter. An actual experiment is carried out in indoor environment, and experimental results verify the effectiveness of the algorithm.
%K SLAM
%K monocular vision
%K extended Kalman filter
%K artificial landmark
%K odometer<br>SLAM
%K 单目视觉
%K 扩展卡尔曼滤波
%K 人工路标
%K 里程计.
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=6E709DC38FA1D09A4B578DD0906875B5B44D4D294832BB8E&cid=37F46C35E03B4B86&jid=0CD45CC5E994895A7F41A783D4235EC2&aid=04D100CF9EA630B14765A1506296BA7E&yid=140ECF96957D60B2&vid=340AC2BF8E7AB4FD&iid=B31275AF3241DB2D&sid=AC3946AB81989513&eid=C990359CEBD48A9E&journal_id=1000-0577&journal_name=系统科学与数学&referenced_num=0&reference_num=13