Temat: visual SLAM - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: On augmenting the visual slam with direct orientation measurement using the 5-point algorithm
Autorzy:: Schmidt, A.
Kraft, A.
Fularz, M.
Domagała, Z.
Powiązania:: https://bibliotekanauki.pl/articles/384310.pdf
Data publikacji:: 2013
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:: visual SLAM
visual odometry
Opis:: This paper presents the attempt to merge two paradigms of the visual robot navigation: Visual Simultaneous Localization and Mapping (VSLAM) and Visual Odometry (VO). The VSLAM was augmented with the direct, visual measurement of the robot orientation change using the 5-point algorithm. The extended movement model of the robot was proposed and additional measurements were introduced to the SLAM system. The efficiency of the 5-point and 8-point algorithms was compared. The augmented system was compared with the state of the art VSLAM solution and the proposed modification allowed to reduce the tracking error by over 30%.
Źródło:: Journal of Automation Mobile Robotics and Intelligent Systems; 2013, 7, 1; 5-10
1897-8649
2080-2145
Pojawia się w:: Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 2.

Tytuł:: The registration system for the evaluation of indoor visual slam and odometry algorithms
Autorzy:: Schmidt, A.
Kraft, M.
Fularz, M.
Domagała, Z.
Powiązania:: https://bibliotekanauki.pl/articles/384854.pdf
Data publikacji:: 2013
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:: SLAM
visual odometry
benchmark
Opis:: This paper presents the new benchmark data registra- tion system aimed at facilitating the development and evaluation of the visual odometry and SLAM algorithms. The WiFiBOT LAB V3 wheeled robot equipped with three cameras, XSENS MTi atitude and heading reference system (AHRS) and Hall encoders can be used to gather data in indoor exploration scenarios. The ground truth trajectory of the robot is obtained using the visual motion tracking system. Additional static cameras simulating the surveillance network, as well as artificial markers augmen ting the navigation are incorporated in the system. The datasets registered with the presented system will be freely available for research purposes.
Źródło:: Journal of Automation Mobile Robotics and Intelligent Systems; 2013, 7, 2; 46-51
1897-8649
2080-2145
Pojawia się w:: Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 3.

Tytuł:: Homography augmented particle filter SLAM
Autorzy:: Słowak, Paweł Leszek
Kaniewski, Piotr
Powiązania:: https://bibliotekanauki.pl/articles/27311746.pdf
Data publikacji:: 2023
Wydawca:: Polska Akademia Nauk. Czasopisma i Monografie PAN
Tematy:: Simultaneous Localization and Mapping
SLAM
homography matrix
particle filter
robot navigation
visual-inertial systems
Opis:: The article presents a comprehensive study of a visual-inertial simultaneous localization and mapping (SLAM) algorithm designed for aerial vehicles. The goal of the research is to propose an improvement to the particle filter SLAM system that allows for more accurate and robust navigation of unknown environments. The authors introduce a modification that utilizes a homography matrix decomposition calculated from the camera frame-to-frame relationships. This procedure aims to refine the particle filter proposal distribution of the estimated robot state. In addition, the authors implement a mechanism of calculating a homography matrix from robot displacement, which is utilized to eliminate outliers in the frame-to-frame feature detection procedure. The algorithm is evaluated using simulation and real-world datasets, and the results show that the proposed improvements make the algorithm more accurate and robust. Specifically, the use of homography matrix decomposition allows the algorithm to be more efficient, with a smaller number of particles, without sacrificing accuracy. Furthermore, the incorporation of robot displacement information helps improve the accuracy of the feature detection procedure, leading to more reliable and consistent results. The article concludes with a discussion of the implemented and tested SLAM solution, highlighting its strengths and limitations. Overall, the proposed algorithm is a promising approach for achieving accurate and robust autonomous navigation of unknown environments.
Źródło:: Metrology and Measurement Systems; 2023, 30, 3; 423--439
0860-8229
Pojawia się w:: Metrology and Measurement Systems
Dostawca treści:: Biblioteka Nauki

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