Visual EKF-SLAM from Heterogeneous Landmarks
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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Structured environment can be modelled in a simplified way as a set of planar surfaces and lines. For mobile robot equipped with a 3D sensor and a camera, the incremental construction of such a model is a Simultaneous Localisation And Mapping (SLAM) problem: while exploring the environment, the robot executes motions; from each position, it acquires sensory data, extracts 3D perceptual features...
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ژورنال
عنوان ژورنال: Sensors
سال: 2016
ISSN: 1424-8220
DOI: 10.3390/s16040489