Carregant...
Carregant...

Vés al contingut (premeu Retorn)

Information-based compact Pose SLAM

Autor
Ila, V.; Porta, J.; Andrade-Cetto, J.
Tipus d'activitat
Article en revista
Revista
IEEE journal of robotics and automation
Data de publicació
2010
Volum
26
Número
1
Pàgina inicial
78
Pàgina final
93
DOI
https://doi.org/10.1109/TRO.2009.2034435 Obrir en finestra nova
Repositori
http://hdl.handle.net/2117/7495 Obrir en finestra nova
URL
http://dx.doi.org/10.1109/TRO.2009.2034435 Obrir en finestra nova
Resum
Pose SLAMis the variant of simultaneous localization and map building (SLAM) is the variant of SLAM, in which only the robot trajectory is estimated and where landmarks are only used to produce relative constraints between robot poses. To reduce the computational cost of the information filter form of PoseSLAM and, at the same time, to delay inconsistency as much as possible, we introduce an approach that takes into account only highly informative loop-closure links and nonredundant poses. This ...
Citació
Ila, V.; Porta, J.; Andrade-Cetto, J. Information-based compact Pose SLAM. "IEEE transactions on robotics", 2010, vol. 26, núm. 1, p. 78-93.
Paraules clau
Information filter Information gain Interval arithmetic Pose SLAM State recovery Tree-based data association
Grup de recerca
KRD - Cinemàtica i Disseny de Robots
VIS - Visió Artificial i Sistemes Intel.ligents

Participants