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Wyszukujesz frazę "SLAM" wg kryterium: Temat


Tytuł:
À la recherche de l’argot perdu. Le slam et ses néostyles
In Search of the Lost Argot. The Slam and its Neo-styles
Autorzy:
Vorger, Camille
Powiązania:
https://bibliotekanauki.pl/articles/966802.pdf
Data publikacji:
2015
Wydawca:
Uniwersytet Łódzki. Wydawnictwo Uniwersytetu Łódzkiego
Tematy:
slam poetry
identity
neologism
slam workshop
slam
néologie
identité
délexicalisation
atelier slam
Opis:
Slam appears as an emergent discursive genre where the expressive function of the language is emphasized. It is at the same time stand of collective expression, forum of the modern city, and place for individual expression. As such, it reflects a double search, for identity and poetry: language and identity are closely linked. Essentially expressive, slam texts are characterized by reflection and that’s why we shall evoke a “mirror language” (langue-miroir). They are also a place where the lexical creativity is stimulated, so that neologisms are frequents: they have to be organized according to “lexicogeniques matrices”, through an analysis which is not only lexical, but also stylistic (with neostyle concept) and functional (with colludique function). Finally, we shall present an example of didactic plan designed to stimulate the lexical creativity for pupils by suggesting them inventing pseudonyms or stage names.
Espace hybride, le slam apparaît comme un genre discursif émergent où la fonction expressive du langage est mise en relief. Il est à la fois tribune d’expression collective, forum de la cité moderne, et lieu où s’exprime le moi. En tant que tel, il reflète une double quête, identitaire et poétique : langue et identité se trouvent étroitement entrelacées. Fondé sur la recherche d’expressivité, les textes de slam se distinguent aussi par leur réflexivité et c’est en ce sens que nous évoquerons la « langue-miroir » dont ils sont porteurs. Ils sont aussi un lieu où la créativité lexicale est exacerbée, d’où de nombreux néologismes que nous étudierons à la lumière des matrices lexicogéniques, selon une analyse lexicale, mais aussi stylistique (autour de la notion de néostyle) et fonctionnelle (avec la fonction que nous qualifierons de colludique). Enfin, nous présenterons un exemple de dispositif didactique visant à favoriser la créativité lexicale chez des élèves d’école primaire en les mettant en situation de rechercher des pseudonymes (noms de scènes).
Źródło:
Acta Universitatis Lodziensis. Folia Litteraria Romanica; 2015, 010
1505-9065
2449-8831
Pojawia się w:
Acta Universitatis Lodziensis. Folia Litteraria Romanica
Dostawca treści:
Biblioteka Nauki
Artykuł
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
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
Artykuł
Tytuł:
Toward rich geometric map for SLAM : online detection of planes in 2D LIDAR
Autorzy:
Berger, C.
Powiązania:
https://bibliotekanauki.pl/articles/385041.pdf
Data publikacji:
2013
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
laser scanner
SLAM
lidar
Opis:
Rich geometric models of the environment are needed for robots to carry out their missions. However a robot operating in a large environment would require a compact representation. In this article, we present a method that relies on the idea that a plane appears as a line segment in a 2D scan, and that by tracking those lines frame after frame, it is possible to estimate the parameters of that plane. The method is divided in three steps: fitting line segments on the points of the 2D scan, tracking those line segments in consecutive scan and estimating the parameters with a graph based SLAM (Simultaneous Localisation And Mapping) algorithm.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2013, 7, 1; 35-41
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Wizualizacja obrazu stereowizyjnego w systemie VISROBOT
Stereo image visualization in a VISROBOT system
Autorzy:
Kowalczuk, Z.
Merta, T.
Powiązania:
https://bibliotekanauki.pl/articles/156968.pdf
Data publikacji:
2014
Wydawca:
Stowarzyszenie Inżynierów i Techników Mechaników Polskich
Tematy:
stereowizja
stereoskopia
SLAM
stereovision
stereoscopy
Opis:
Proponując nowe podejście do wizji robotyckiej, opisuje się system, którego zadaniem jest wizualizacja obrazu stereo dla operatora robota. Pomysł ten zasadza się na inteligentnym wykorzystaniu zmiennej bazy stereo, która pozwala na zwiększenie zakresu rozdzielczości głębi obrazu dla obiektów odległych. Na podstawie obrazu stereo, przy zmiennej bazie stereo, wyznaczana jest mapa dysparycji. Odpowiednio przeprowadzona wizualizacja (zakresu) dysparycji umożliwia poprawne postrzeganie głębi w obrazie stereoskopowym dostarczanym ludzkiemu operatorowi.
The article describes a novel approach to robotic vision in mobile robotic systems. The task of such a system is to visualize a stereo image properly for an operator. The system uses different stereo baseline values. Variable baseline can result in increasing depth resolution for distant objects. We assume that the robot works in a static environment. Variable baseline stereo imaging is realized based on the submission of images taken from different robot's placements. A disparity map is determined with the use of various baselines. Visualization of the disparity extent allows making a stereoscopic picture that ensures a proper perception of the depth.
Źródło:
Pomiary Automatyka Kontrola; 2014, R. 60, nr 10, 10; 803-808
0032-4140
Pojawia się w:
Pomiary Automatyka Kontrola
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
A collision avoidance algorithm in Simultaneous Localization and Mapping problem for mobile platforms
Autorzy:
Małecki, Tomasz
Narkiewicz, Janusz
Powiązania:
https://bibliotekanauki.pl/articles/2086976.pdf
Data publikacji:
2022
Wydawca:
Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
Tematy:
algorithm
modeling
path planning
SLAM
Opis:
A collision avoidance algorithm applicable in simultaneous localization and mapping (SLAM) has been developed with a prospect of an on-line application for mobile platforms to search and map the operation area and avoid contact with obstacles. The algorithm, which was implemented in MATLAB software, is based on a linear discrete-time state transition model for determination of the platform position and orientation, and a ‘force’ points method for collision avoidance and definition of the next-step of platform motion. The proposed approach may be incorporated into real-time applications with limited on-board computational resources.
Źródło:
Journal of Theoretical and Applied Mechanics; 2022, 60, 2; 317--328
1429-2955
Pojawia się w:
Journal of Theoretical and Applied Mechanics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
A simple and efficient implementation of EKF - based SLAM relying on laser scanner in complex indoor environment
Autorzy:
Genevois, T.
Zielińska, T.
Powiązania:
https://bibliotekanauki.pl/articles/950933.pdf
Data publikacji:
2014
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
mobile robot
SLAM
environment recognition
Opis:
Localization in an unknown environment is one of the major issues faced by autonomous vehicles. The solution to this problem is delivered by the Simultaneous Localization and Mapping techniques, commonly known as SLAM. SLAM is the category of algorithms allowing a robot to map the surroundings and to keep an estimate of its position. Nowadays several SLAM methods are widely used. Though, many issues arise when SLAM is applied in a complex and unstructured environment. This article details an implementation of SLAM using improved Extended Kalman Filter (EKF). The aim is to provide a simple but reliable SLAM technique. The work has been carried out on a robot Seekur Jr, the mapping has been realized with a laser scanner. The applied EKF model with its modifications is presented. The techniques used to observe the environment and to identify the landmarks are outlined. The robustness and consistency of introduced modifications were justified by experiments.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2014, 8, 2; 58-67
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
SLAM – Based Approach to Dynamic Ship Positioning
Autorzy:
Wróbel, K. A.
Powiązania:
https://bibliotekanauki.pl/articles/116689.pdf
Data publikacji:
2014
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
Dynamic Ship Positioning
Simultaneous Localization and Mapping (SLAM)
Dynamic Positioning (DP)
Reference System
SLAM Method
SLAM Post-Processing
Doppler Velocity Log (DVL)
Hydroacoustics
Opis:
Dynamically positioned vessels, used by offshore industry, use not only satellite navigation but also different positioning systems, often referred to as ‘reference’ systems. Most of them use multiple technical devices located outside the vessel which creates some problems with their accessibility and performance. In this paper, a basic concept of reference system independent from any external device is presented, basing on hydroacoustics and Simultaneous Localization and Mapping (SLAM) method. Theoretical analysis of its operability is also performed.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2014, 8, 1; 21-25
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
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
Tytuł:
Model of Unmanned Ground Vehicle
Autorzy:
Králík, V.
Kuffová, M.
Janura, P.
Powiązania:
https://bibliotekanauki.pl/articles/403368.pdf
Data publikacji:
2010
Wydawca:
Wojskowa Akademia Techniczna im. Jarosława Dąbrowskiego
Tematy:
automatics
localization
mapping
SLAM
UGV model
Opis:
The paper deals with utilization of the laser rangefinder for navigation and mapping of unknown indoor environment. The navigation algorithm is based on comparison of two pictures of the unknown space and gain of the correlation function maximum. The 2D position change of the rangefinder is calculated as a maximum of the correlation function. The goal is to improve the accuracy of odometric and inertial methods for localization and navigation of a robot system in an indoor environment.
Źródło:
Problemy Mechatroniki : uzbrojenie, lotnictwo, inżynieria bezpieczeństwa; 2010, 1, 1 (1); 11-20
2081-5891
Pojawia się w:
Problemy Mechatroniki : uzbrojenie, lotnictwo, inżynieria bezpieczeństwa
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Simulation and experimental evaluation of the EKF simultaneous localization and mapping algorithm on the wifibot mobile robot
Autorzy:
Ayadi, N.
Derbel, N.
Morette, N.
Novales, C.
Poisson, G.
Powiązania:
https://bibliotekanauki.pl/articles/91547.pdf
Data publikacji:
2018
Wydawca:
Społeczna Akademia Nauk w Łodzi. Polskie Towarzystwo Sieci Neuronowych
Tematy:
mobile robot
localisation
EKF
SLAM
consistency
Opis:
In recent years, autonomous navigation for mobile robots has been considered a highly active research field. Within this context, we are interested to apply the Simultaneous Localization And Mapping (SLAM) approach for a wheeled mobile robot. The Extended Kalman Filter has been chosen to perform the SLAM algorithm. In this work, we explicit all steps of the approach. Performances of the developed algorithm have been assessed through simulation in the case of a small scale map. Then, we present several experiments on a real robot that are proceeded in order to exploit a programmed SLAM unit and to generate the navigation map. Based on experimental results, simulation of the SLAM method in the case of a large scale map is then realized. Obtained results are exploited in order to evaluate and compare the algorithm’s consistency and robustness for both cases.
Źródło:
Journal of Artificial Intelligence and Soft Computing Research; 2018, 8, 2; 91-101
2083-2567
2449-6499
Pojawia się w:
Journal of Artificial Intelligence and Soft Computing Research
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
On the Representation of Planes for Efficient Graph-based SLAM with High-level Features
Autorzy:
Wietrzykowski, J.
Powiązania:
https://bibliotekanauki.pl/articles/384465.pdf
Data publikacji:
2016
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
SLAM
features
plane parametrization,
graph-based optimization
Opis:
Despite the fact, that dense SLAM systems are extensively developed and are getting popular, feature based ones still have many advantages over them. One of the most important matters in sparse systems are features. The performance and robustness of a system depends strictly on the quality of constraints imposed by feature observations and reliable matching between measurements and features. To improve those two aspects, higher-level features can be used, and planes are a natural choice. We tackle the problem of plugging planes into the g2o optimization framework with two distinct plane representations: one based on a properly stated SE(3) parametrization and one based on a minimal parametrization analogous to quaternions. Proposed solutions were implemented as extensions to the g2o framework and experiments that verify them were conducted using simulation. We provide a comparison of performance under various conditions that emphasized differences.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2016, 10, 3; 3-11
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Development of an omnidirectional AGV by applying ORB-SLAM for navigation under ROS framework
Autorzy:
Wu, Pan-Long
Li, Jyun-Jhen
Shaw, Jin-Siang
Powiązania:
https://bibliotekanauki.pl/articles/2204560.pdf
Data publikacji:
2022
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
ROS
ORB-SLAM
omnidirectional AGV
autonomous Navigation
Opis:
This paper presents the development of an automated guided vehicle with omni-wheels for autonomous navigation under a robot operating system framework. Specifically, a laser rangefinder-constructed two-dimensional environment map is integrated with a three-dimensional point cloud map to achieve real-time robot positioning, using the oriented features from accelerated segment testing and a rotated binary robust independent elementary feature detector-simultaneous localization and mapping algorithm. In the path planning for autonomous navigation of the omnidirectional mobile robot, we applied the A* global path search algorithm, which uses a heuristic function to estimate the robot position difference and searches for the best direction. Moreover, we employed the time-elastic-band method for local path planning, which merges the time interval of two locations to realize time optimization for dynamic obstacle avoidance. The experimental results verified the effectiveness of the applied algorithms for the omni-wheeled mobile robot. Furthermore, the results showed a superior performance over the adaptive Monte Carlo localization for robot localization and dynamic window approach for local path planning.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2022, 16, 1; 14--20
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Straight-lines modelling using planar information for monocular SLAM
Autorzy:
Santana, A. M.
Medeiros, A. A. D.
Powiązania:
https://bibliotekanauki.pl/articles/331312.pdf
Data publikacji:
2012
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
SLAM
filtr Kalmana
transformata Hough'a
Simultaneous Localization and Mapping (SLAM)
Kalman filter
Hough transform
monocular vision
Opis:
This work proposes a SLAM (Simultaneous Localization And Mapping) solution based on an Extended Kalman Filter (EKF) in order to enable a robot to navigate along the environment using information from odometry and pre-existing lines on the floor. These lines are recognized by a Hough transform and are mapped into world measurements using a homography matrix. The prediction phase of the EKF is developed using an odometry model of the robot, and the updating makes use of the line parameters in Kalman equations without any intermediate stage for calculating the distance or the position. We show two experiments (indoor and outdoor) dealing with a real robot in order to validate the project.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2012, 22, 2; 409-421
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł

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