منابع مشابه
Local map update for large scale SLAM
A technique for simultaneous localisation and mapping (SLAM) for large scale scenarios is presented. This solution is based on the use of independent submaps of a limited size to map large areas. In addition, a global stochastic map, containing the links between adjacent submaps, is built. The information in both levels is corrected every time a loop is closed: local maps are updated with the i...
متن کاملIndependent Local Mapping for Large-Scale SLAM
SLAM algorithms do not perform consistent maps for large areas mainly due to the uncertainties that become prohibitive when the scenario becomes larger and to the increase of computational cost. The use of local maps has been demonstrated to be well suited for mapping large environments, reducing computational cost and improving map consistency. This paper proposes a technique based on using in...
متن کاملAppearance-only SLAM at large scale with FAB-MAP 2.0
We describe a new formulation of appearance-only SLAM suitable for very large scale place recognition. The system navigates in the space of appearance, assigning each new observation to either a new or a previously visited location, without reference to metric position. The system is demonstrated performing reliable online appearance mapping and loop-closure detection over a 1000 km trajectory,...
متن کاملAccurate Large-Scale Bearing-Only SLAM by Map Joining
This paper presents a bearing-only SLAM algorithm that generates accurate and consistent maps of large environments by joining a series of small local maps. The local maps are built by least squares optimization with a proper landmark initialization technique. The local maps are then combined to build global map using Iterated Sparse Local Submap Joining Filter (ISLSJF). The accuracy and consis...
متن کاملLSD-SLAM: Large-Scale Direct Monocular SLAM
We propose a direct (feature-less) monocular SLAM algorithm which, in contrast to current state-of-the-art regarding direct methods, allows to build large-scale, consistent maps of the environment. Along with highly accurate pose estimation based on direct image alignment, the 3D environment is reconstructed in real-time as pose-graph of keyframes with associated semi-dense depth maps. These ar...
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ژورنال
عنوان ژورنال: Electronics Letters
سال: 2010
ISSN: 0013-5194
DOI: 10.1049/el.2010.2271