FPGA design of EKF block accelerator for 3D visual SLAM
نویسندگان
چکیده
منابع مشابه
Visual EKF-SLAM from Heterogeneous Landmarks
Many applications require the localization of a moving object, e.g., a robot, using sensory data acquired from embedded devices. Simultaneous localization and mapping from vision performs both the spatial and temporal fusion of these data on a map when a camera moves in an unknown environment. Such a SLAM process executes two interleaved functions: the front-end detects and tracks features from...
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In this paper we show that all processes associated to the move-sense-update cycle of EKF SLAM can be carried out in time linear in the number of map features. We describe Divide and Conquer SLAM, an EKF SLAM algorithm where the computational complexity per step is reduced from O(n) to O(n) (the total cost of SLAM is reduced from O(n) to O(n)). In addition, the resulting vehicle and map estimat...
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This paper presents a new generalisation of simultaneous localisation and mapping (SLAM). SLAM implementations based on extended Kalman filter (EKF) data fusion have traditionally relied on simple geometric models for defining landmarks. This limits EKF-SLAM to environments suited to such models and tends to discard much potentially useful data. The approach presented in this paper is a marriag...
متن کاملAn EKF-SLAM algorithm with consistency properties
In this paper we address the inconsistency of the EKF-based SLAM algorithm that stems from non-observability of the origin and orientation of the global reference frame. We prove on the non-linear two-dimensional problem with point landmarks observed that this type of inconsistency is remedied using the Invariant EKF, a recently introduced variant of the EKF meant to account for the symmetries ...
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st , θ ⊤ 0 , θ ⊤ 1 , . . . , θ ⊤ K )⊤ is the state vector. (Note that the superscript t refers to the set of variables at time t.) In general, the complexity of computing such a density grows exponentially with time; to make the computation tractable, the true state is being assumed to be an unobserved Markov process implying that • the true state is conditionally independent of all earlier sta...
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ژورنال
عنوان ژورنال: Computers & Electrical Engineering
سال: 2016
ISSN: 0045-7906
DOI: 10.1016/j.compeleceng.2016.05.003