- Tytuł:
- On the application of RGB-D SLAM systems for practical localization of mobile robots
- Autorzy:
-
Kostusiak, A.
Nowicki, M.
Skrzypczyński, P. - Powiązania:
- https://bibliotekanauki.pl/articles/384725.pdf
- Data publikacji:
- 2017
- Wydawca:
- Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
- Tematy:
-
SLAM
RGB-D
mobile robot
evaluation - Opis:
- This paper considers the practical application of the RGBD Simultaneous Localization and Mapping (SLAM) techniques for localization of mobile robots. We attempt to answer the question: how the quality of the estimated sensor trajectory depends on the approach to RGB-D data processing in the SLAM system when RGB-D frames acquired on a real mobile robot are used. Experiments are performed on data obtained from robots of different classes, and from different environment types to present the problems characteristic to RGB-D data. Conclusions as to the robustness of particular architectures and solutions applied in SLAM are drawn on the basis of experimental results. Publicly available data sets and well-established performance metrics are used to ensure that the results are verifiable, reproducible and relevant
- Źródło:
-
Journal of Automation Mobile Robotics and Intelligent Systems; 2017, 11, 2; 57-66
1897-8649
2080-2145 - Pojawia się w:
- Journal of Automation Mobile Robotics and Intelligent Systems
- Dostawca treści:
- Biblioteka Nauki
Artykuł