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GPS-SLAM: an augmentation of the ORB-SLAM algorithm

Author
Kiss-Illés, D.; Barrado, C.; Salamí, E.
Type of activity
Journal article
Journal
Sensors
Date of publication
2019-11-15
Volume
19
Number
22
First page
1
Last page
22
DOI
10.3390/s19224973
Repository
http://hdl.handle.net/2117/173401 Open in new window
URL
https://www.mdpi.com/1424-8220/19/22/4973 Open in new window
Abstract
This work presents Global Positioning System-Simultaneous Localization and Mapping (GPS-SLAM), an augmented version of Oriented FAST (Features from accelerated segment test) and Rotated BRIEF (Binary Robust Independent Elementary Features) feature detector (ORB)-SLAM using GPS and inertial data to make the algorithm capable of dealing with low frame rate datasets. In general, SLAM systems are successful in case of datasets with a high frame rate. This work was motivated by a scarce dataset where...
Citation
Kiss-Illés, D.; Barrado, C.; Salamí, E. GPS-SLAM: an augmentation of the ORB-SLAM algorithm. "Sensors", 15 Novembre 2019, vol. 19, núm. 22, p. 1-22.
Keywords
GPS data, SLAM, UAV, inertial, scarce dataset
Group of research
ICARUS - Intelligent Communications and Avionics for Robust Unmanned Aerial Systems

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