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A Highest order hypothesis compatibility test for monocular SLAM

Autor
Guerra, E.; Munguia, R.F.; Bolea, Y.; Grau, A.
Tipus d'activitat
Article en revista
Revista
International journal of advanced robotic systems
Data de publicació
2013-08
Volum
10
Número
311
Pàgina inicial
1
Pàgina final
11
DOI
https://doi.org/10.5772/56737 Obrir en finestra nova
Repositori
http://hdl.handle.net/2117/20473 Obrir en finestra nova
URL
http://cdn.intechopen.com/pdfs/45567/InTech-A_highest_order_hypothesis_compatibility_test_for_monocular_slam.pdf Obrir en finestra nova
Resum
Simultaneous Location and Mapping (SLAM) is a key problem to solve in order to build truly autonomous mobile robots. SLAM with a unique camera, or monocular SLAM, is probably one of the most complex SLAM variants, based entirely on a bearing-only sensor working over six DOF. The monocular SLAM method developed in this work is based on the Delayed Inverse-Depth (DI-D) Feature Initialization, with the contribution of a new data association batch validation technique, the Highest Order Hypothesis C...
Citació
Guerra, E. [et al.]. A Highest order hypothesis compatibility test for monocular SLAM. "International journal of advanced robotic systems", Agost 2013, vol. 10, núm. 311, p. 1-11.
Paraules clau
Monocular SLAM, only-bearing sensor., robotics
Grup de recerca
VIS - Visió Artificial i Sistemes Intel.ligents

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