Temat: odometry - 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:: Efficient RGB-D data processing for feature-based self-localization of mobile robots
Autorzy:: Kraft, M.
Nowicki, M.
Penne, R.
Schmidt, A.
Skrzypczyński, P.
Powiązania:: https://bibliotekanauki.pl/articles/330295.pdf
Data publikacji:: 2016
Wydawca:: Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:: visual odometry
simultaneous localization
simultaneous mapping
RGB-D
tracking
point features
odometria wizyjna
lokalizacja jednoczesna
śledzenie
Opis:: The problem of position and orientation estimation for an active vision sensor that moves with respect to the full six degrees of freedom is considered. The proposed approach is based on point features extracted from RGB-D data. This work focuses on efficient point feature extraction algorithms and on methods for the management of a set of features in a single RGB-D data frame. While the fast, RGB-D-based visual odometry system described in this paper builds upon our previous results as to the general architecture, the important novel elements introduced here are aimed at improving the precision and robustness of the motion estimate computed from the matching point features of two RGB-D frames. Moreover, we demonstrate that the visual odometry system can serve as the front-end for a pose-based simultaneous localization and mapping solution. The proposed solutions are tested on publicly available data sets to ensure that the results are scientifically verifiable. The experimental results demonstrate gains due to the improved feature extraction and management mechanisms, whereas the performance of the whole navigation system compares favorably to results known from the literature.
Źródło:: International Journal of Applied Mathematics and Computer Science; 2016, 26, 1; 63-79
1641-876X
2083-8492
Pojawia się w:: International Journal of Applied Mathematics and Computer Science
Dostawca treści:: Biblioteka Nauki

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