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

Author
Munguia, R.F.; Castillo-Toledo, B.; Grau, A.
Type of activity
Journal article
Journal
Sensors
Date of publication
2013-07-03
Volume
13
Number
7
First page
8501
Last page
8522
DOI
https://doi.org/10.3390/s130708501 Open in new window
Repository
http://hdl.handle.net/2117/23131 Open in new window
URL
http://www.mdpi.com/1424-8220/13/7/8501 Open in new window
Abstract
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...
Citation
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.
Keywords
Localization, Mapping, Mobile robotics, Monocular SLAM, Stochastic estimation
Group of research
VIS - Artificial Vision and Intelligent Systems

Participants

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

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