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Paper Abstract and Keywords
Presentation 2011-02-22 14:05
Enhancement of Positional Precision for View Based Navigation Using SURF Descriptors
Yoshinobu Hagiwara, Hiroki Imamura, Yongwoon Choi, Kazuhiro Watanabe (Soka Univ.) ITS2010-59 IE2010-134
Abstract (in Japanese) (See Japanese page) 
(in English) In this paper, we propose a reliable method for view-based navigation of mobile robots fully improved in positional accuracy by using feature-points extracted by SURF, and it is verified from the navigation experiments of them. In experiments conducted in an indoor corridor with a robot for comparing the proposed method to conventional one, the positional precision was obtained in centimeter-order of within 10.0 [cm]. It suggests that the proposed method is applied to the view-based navigation for robots in such narrow areas as obstacle avoidance and corridors.
Keyword (in Japanese) (See Japanese page) 
(in English) Robot Vision / View Based Navigation / SURF / Robot Navigation / / / /  
Reference Info. IEICE Tech. Rep., vol. 110, no. 421, IE2010-134, pp. 239-244, Feb. 2011.
Paper # IE2010-134 
Date of Issue 2011-02-14 (ITS, IE) 
ISSN Print edition: ISSN 0913-5685  Online edition: ISSN 2432-6380
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF ITS2010-59 IE2010-134

Conference Information
Conference Date 2011-02-21 - 2011-02-22 
Place (in Japanese) (See Japanese page) 
Place (in English) Hokkaido University 
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To IE 
Conference Code 2011-02-ITS-IE-AIT-HI-ME 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Enhancement of Positional Precision for View Based Navigation Using SURF Descriptors 
Sub Title (in English)  
Keyword(1) Robot Vision  
Keyword(2) View Based Navigation  
Keyword(3) SURF  
Keyword(4) Robot Navigation  
1st Author's Name Yoshinobu Hagiwara  
1st Author's Affiliation Soka University (Soka Univ.)
2nd Author's Name Hiroki Imamura  
2nd Author's Affiliation Soka University (Soka Univ.)
3rd Author's Name Yongwoon Choi  
3rd Author's Affiliation Soka University (Soka Univ.)
4th Author's Name Kazuhiro Watanabe  
4th Author's Affiliation Soka University (Soka Univ.)
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Date Time 2011-02-22 14:05:00 
Presentation Time 25 
Registration for IE 
Paper # IEICE-ITS2010-59,IEICE-IE2010-134 
Volume (vol) IEICE-110 
Number (no) no.420(ITS), no.421(IE) 
Page pp.239-244 
#Pages IEICE-6 
Date of Issue IEICE-ITS-2011-02-14,IEICE-IE-2011-02-14 

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