- Tytuł:
- Simultaneous localization and mapping: A feature-based probabilistic approach
- Autorzy:
- Skrzypczyński, P.
- Powiązania:
- https://bibliotekanauki.pl/articles/929972.pdf
- Data publikacji:
- 2009
- Wydawca:
- Uniwersytet Zielonogórski. Oficyna Wydawnicza
- Tematy:
-
robot mobilny
lokalizacja równoczesna
dopasowanie właściwości
mobile robot
simultaneous localization and mapping
feature matching - Opis:
- This article provides an introduction to Simultaneous Localization And Mapping (SLAM), with the focus on probabilistic SLAM utilizing a feature-based description of the environment. A probabilistic formulation of the SLAM problem is introduced, and a solution based on the Extended Kalman Filter (EKF-SLAM) is shown. Important issues of convergence, consistency, observability, data association and scaling in EKF-SLAM are discussed from both theoretical and practical points of view. Major extensions to the basic EKF-SLAM method and some recent advances in SLAM are also presented.
- Źródło:
-
International Journal of Applied Mathematics and Computer Science; 2009, 19, 4; 575-588
1641-876X
2083-8492 - Pojawia się w:
- International Journal of Applied Mathematics and Computer Science
- Dostawca treści:
- Biblioteka Nauki
Artykuł