The Design of a Self-Localization Estimation Method for Indoor Mobile Robots using an Improved SURF Algorithm
نویسندگان
چکیده
We present an improved self-localization estimation algorithm in this paper. The algorithm uses a modified SURF method to extract the interest points, using it to extract the orientation and a descriptor of the interest point in order to lessen the computation time. A robot using this method can estimate its indoor self-localization according to matched interest points. A number of intermediate results will also be discussed. The intermediate results show that the displacement method could correctly match the interest points in two images. Keywords-Ceiling Key Point Extraction; SURF (Speeded-Up Robust Features); DSP (Digital Signal Processor).
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