NDLI: Pose graph SLAM-based displacement estimation for a multiple structural displacement monitoring system

Content Provider	IEEE Xplore Digital Library
Author	Donghwa Lee Haemin Jeon Hyun Myung
Copyright Year	2014
Description	Author affiliation: Urban Robot. Lab., KAIST (Korea Adv. Inst. of Sci. & Technol.), Daejeon, South Korea (Donghwa Lee; Haemin Jeon; Hyun Myung)
Abstract	In this paper, we employ the graph SLAM (Simultaneous Localization And Mapping) technique for displacement estimation for a multiple structural displacement monitoring system. A visually servoed paired structured light system (ViSP) was recently proposed as a novel estimation method of the 6-DOF (Degree-Of-Freedom) relative displacement in civil structures. To apply the ViSP to massive structures, multiple ViSP modules should be installed in a cascaded manner. In this configuration, the estimation errors are propagated through the ViSP modules. To address this problem, a displacement estimation error back-propagation (DEEP) method was proposed. However, the DEEP method has some disadvantages. To overcome the limitation of the DEEP method, a pose graph SLAM-based displacement estimation method is proposed. Simulations and experiments are conducted to validate the performance of the proposed method. The results show that the proposed method reduces the propagation errors in comparison with a previous work.
Starting Page	1395
Ending Page	1400
File Size	1315710
Page Count	6
File Format	PDF
ISSN	20937121
e-ISBN	9788993215076
DOI	10.1109/ICCAS.2014.6987776
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-10-22
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Control, Robotics and Systems (ICROS)
Subject Keyword	SLAM (Simultaneous Localization And Mapping) displacement estimation error back-propagation (DEEP) Logic gates Cameras visually servoed paired structured light system (ViSP)
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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Multiple ViSPs (visually servoed paired structured light systems) for 6-DOF structural displacement estimation

Experimental Validation of Visually Servoed Paired Structured Light System (ViSP) for Structural Displacement Monitoring

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DEEP ( Displacement Estimation Error BackPropagation ) Method for Cascaded ViSPs ( Visually Servoed Paired Structured Light Systems )

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Measurement of Structural Displacement Using Visually Servoded Paired Structured Light System

A pose graph based visual SLAM algorithm for robot pose estimation

Toward robust linear SLAM

Multiple hypotheses data association propagation for robust monocular-based SLAM algorithms

Pose graph SLAM-based displacement estimation for a multiple structural displacement monitoring system

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