- 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
Artykuł