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Batch gating for data association in monocular SLAM

Autor
Munguia, R.F.; Guerra, E.; Bolea, Y.; Grau, A.
Tipus d'activitat
Article en revista
Revista
Applied mechanics and materials
Data de publicació
2013-05-27
Volum
319
Pàgina inicial
295
Pàgina final
301
DOI
https://doi.org/10.4028/www.scientific.net/AMM.319.295 Obrir en finestra nova
Repositori
http://hdl.handle.net/2117/19731 Obrir en finestra nova
URL
http://www.scientific.net/AMM.319.295 Obrir en finestra nova
Resum
This work describes the development and implementation of a single-camera SLAM system, introducing a novel data validation algorithm. A 6-DOF monocular SLAM method developed is based on the Delayed Inverse-Depth (DI-D) Feature Initialization, with the addition of a new data association batch validation technique, the Highest Order Hypothesis Compatibility Test, HOHCT. The DI-D initializes new features in the system defining single hypothesis for the initial depth of features by stochastic triang...
Citació
Guerra, E. [et al.]. Batch gating for data association in monocular SLAM. "Applied mechanics and materials", 27 Maig 2013, vol. 319, p. 295-301.
Paraules clau
Monocular SLAM, computer science, only-bearing sensor, robotics
Grup de recerca
VIS - Visió Artificial i Sistemes Intel.ligents

Participants