Concurrent Initialization for Bearing-Only SLAM
نویسندگان
چکیده
منابع مشابه
Concurrent Initialization for Bearing-Only SLAM
Simultaneous Localization and Mapping (SLAM) is perhaps the most fundamental problem to solve in robotics in order to build truly autonomous mobile robots. The sensors have a large impact on the algorithm used for SLAM. Early SLAM approaches focused on the use of range sensors as sonar rings or lasers. However, cameras have become more and more used, because they yield a lot of information and ...
متن کاملDelayed vs Undelayed Landmark Initialization for Bearing Only SLAM
The Simultaneous Localization And Mapping problem (SLAM) is one of the fundamental ones in mobile robotics. It concerns the incremental construction of an environment model from the fusion of sensory data (laser range finder, vision,. . . ) and proprioceptive data acquired by an inertial measurement unit or by odometry. Sensory data are processed to extract features (interest points, segments, ...
متن کاملConstrained initialisation for bearing-only SLAM
Simultaneous Localisation And Mapping (SLAM) is a stochastic map building method which permits consistent robot navigation without requiring an a priori map. The map is built incrementally as the robot observes the environment with its on-board sensors and, at the same time, is used to localise the robot. Typically, SLAM has been performed using range-bearing sensors, but the development of a S...
متن کاملBearing-Only SLAM for an Airborne Vehicle
This paper presents results of an application of vision-aided bearing-only Simultaneous Localisation And Mapping (SLAM) for an Unmanned Aerial Vehicle (UAV) while operating over unstructured, natural environments. A single colour vision camera is used to observe the terrain from which image points corresponding to both man-made and natural features are extracted. The SLAM algorithm estimates th...
متن کاملBearing-Only SLAM with Indistinguishable Landmarks
To navigate successfully, a mobile robot must be able to estimate the spatial relationships of the objects of interest in its environment. The main advantage of a bearing-only SLAM system is that it requires only a cheap vision sensor for navigation. In this paper, we present a bearing-only SLAM method for a 2D environment with visually indistinguishable landmarks (Unknown Data Association). Wh...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Sensors
سال: 2010
ISSN: 1424-8220
DOI: 10.3390/s100301511