SIMULTANEOUS LOCALIZATION AND MAPPING METHOD BY COMBINING VISUAL FEATURE OF STEREO VISION AND LINE FEATURE OF ULTRASONIC SENSOR

摘要

An SLAM(Simultaneous Localization and Mapping) method combining a visual feature of stereo vision and a line feature of an ultrasonic sensor is provided to analyze factors of a distance information error generated due to the reflection characteristic of an ultrasonic wave and to obtain the accurate line features from filtered ultrasonic sensor data. An SLAM method for recognizing the position of a moving object is composed of steps for deciding visual features from an image of a stereo vision sensor installed in the moving object; extracting a line feature obtained from an ultrasonic sensor installed in the moving object; deciding available planes parallel to a vertical plane on the line feature; extracting the visual plane including the predetermined number of visual features over a set value, from the available planes by adding only the visual features of which each distance to the available planes is within a first set value, to the available planes; registering information about the visual feature included in the visual plane, in a database; and updating position information of the matched visual features by matching the registered visual plane and the currently observed visual plane and adding the non-matched visual features to the database according to a correlation between the non-matched and matched visual features.