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A robust approach for a filter-based monocular simultaneous localization and mapping (SLAM) system

Autor
Munguia, R.F.; Castillo-Toledo, B.; Grau, A.
Tipus d'activitat
Article en revista
Revista
Sensors
Data de publicació
2013-07-03
Volum
13
Número
7
Pàgina inicial
8501
Pàgina final
8522
DOI
https://doi.org/10.3390/s130708501 Obrir en finestra nova
Repositori
http://hdl.handle.net/2117/23131 Obrir en finestra nova
URL
http://www.mdpi.com/1424-8220/13/7/8501 Obrir en finestra nova
Resum
Simultaneous Localization and Mapping (SLAM) is an important problem to solve in robotics theory in order to build truly autonomous mobile robots. This work presents a novel method for implementing a SLAM system based on a single camera sensor. The SLAM with a single camera, or monocular SLAM, is probably one of the most complex SLAM variants. In this case a single camera, which is freely moving through its environment, represents the sole sensor input to the system. The sensors have a large imp...
Citació
Munguía, R.F.; Castillo-Toledo, B.; Grau, A. A robust approach for a filter-based monocular simultaneous localization and mapping (SLAM) system. "Sensors", 03 Juliol 2013, vol. 13, núm. 7, p. 8501-8522.
Paraules clau
Localization, Mapping, Mobile robotics, Monocular SLAM, Stochastic estimation
Grup de recerca
VIS - Visió Artificial i Sistemes Intel.ligents

Participants

  • Munguía Alcalá, Rodrigo Francisco  (autor)
  • Castillo Toledo, Bernardino  (autor)
  • Grau Saldes, Antoni  (autor)

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