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Proceedings of

International Conference on Advances in Computer and Information Technology ACIT 2013

"MAP BUILDING FOR CLUTTERED ENVIRONMENT"

ARASH TOUDESHKI ABD RAHMAN RAMLI HABIBU RABIU M. HAMIRUCE MARHABAN SITI A AHMAD YUNUSA ALI S
DOI
10.15224/978-981-07-6261-2-27
Pages
125 - 129
Authors
6
ISBN
978-981-07-6261-2

Abstract: “This paper presents a novel approach to scene localization and mapping in indoor environments from the concept of the Image Bag of Words (BOW) technique, where a group of native feature descriptors represents images and are subsequently transformed to a separate set of image words. This approach uses the famed algorithm called Scale invariant Feature Transform (SIFT). To extract distinctive invariant feature for reliable matching, we normalized the images as illumination changes affect the feature extraction. To achieve robust and efficient matching the environment is modelled. Clustering is shown to be appropriate for quantizing these descriptors into clusters based on selected threshold. In this work, we developed an efficient SLAM using images captured from a highly cluttered background. The result indicates a promising trend in using the camera for SLAM implementation.”

Keywords: mage Bag of words (BOW), Scale Invariant Feature Transform (SIFT), Clustering, Simultaneous Localization and mapping (SLAM), Images, Environment

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