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Monocular SLAM for autonomous robots with enhanced features initialization

Autor
Guerra, E.; Munguia, R.F.; Grau, A.
Tipus d'activitat
Article en revista
Revista
Sensors
Data de publicació
2014-04-02
Volum
14
Número
4
Pàgina inicial
6317
Pàgina final
6337
DOI
https://doi.org/10.3390/s140406317 Obrir en finestra nova
Projecte finançador
Cooperación Robots Humanos en Àreas Urbanas
Repositori
http://hdl.handle.net/2117/26398 Obrir en finestra nova
URL
http://www.mdpi.com/1424-8220/14/4/6317/ Obrir en finestra nova
Resum
This work presents a variant approach to the monocular SLAM problem focused in exploiting the advantages of a human-robot interaction (HRI) framework. Based upon the delayed inverse-depth feature initialization SLAM (DI-D SLAM), a known monocular technique, several but crucial modifications are introduced taking advantage of data from a secondary monocular sensor, assuming that this second camera is worn by a human. The human explores an unknown environment with the robot, and when their fields ...
Citació
Guerra, E.; Munguia, R.F.; Grau, A. Monocular SLAM for autonomous robots with enhanced features initialization. "Sensors", 02 Abril 2014, vol. 14, núm. 4, p. 6317-6337.
Paraules clau
Monocular Slam, Human-robot Interaction, Hri, Stereo Matching, Depth Estimation
Grup de recerca
VIS - Visió Artificial i Sistemes Intel.ligents

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