Publication result detail

Methods for Simultaneous self Localization and Mapping for Depth Cameras

LIGOCKI, A.

Original Title

Methods for Simultaneous self Localization and Mapping for Depth Cameras

English Title

Methods for Simultaneous self Localization and Mapping for Depth Cameras

Type

Paper in proceedings (conference paper)

Original Abstract

This work deals with the extension of the existing implementation of RGBD Visual SLAM with additional data source from wheel odometry of robot’s chassis, on which RGBD sensor is lo- cated. Each of these two position estimation methods has a different character measurement uncer- tainty. By combining these methods together we could be able to suppress the disadvantages of both approaches, and in the result we would be able to create more accurate model of the robot’s environ- ment, which was unknown at the beginning of the measurement. Also accuracy of position estimation in created model can be improved.

English abstract

This work deals with the extension of the existing implementation of RGBD Visual SLAM with additional data source from wheel odometry of robot’s chassis, on which RGBD sensor is lo- cated. Each of these two position estimation methods has a different character measurement uncer- tainty. By combining these methods together we could be able to suppress the disadvantages of both approaches, and in the result we would be able to create more accurate model of the robot’s environ- ment, which was unknown at the beginning of the measurement. Also accuracy of position estimation in created model can be improved.

Keywords

SLAM, Visual SLAM, Odometry, Kinect, 3D Mode, Position Estimation

Key words in English

SLAM, Visual SLAM, Odometry, Kinect, 3D Mode, Position Estimation

Authors

LIGOCKI, A.

RIV year

2018

Released

24.04.2017

Location

Brno

ISBN

978-80-214-5496-5

Book

Sborník EEICT 2017

Pages from

193

Pages to

195

Pages count

3

URL

http://eeict.feec.vutbr.cz/2017/sbornik/EEICT_2017-sbornik-komplet-2.pdf

BibTex

@inproceedings{BUT141431,
  author="Adam {Ligocki}",
  title="Methods for Simultaneous self Localization and Mapping for Depth Cameras",
  booktitle="Sborník EEICT 2017",
  year="2017",
  pages="193--195",
  address="Brno",
  isbn="978-80-214-5496-5",
  url="http://eeict.feec.vutbr.cz/2017/sbornik/EEICT_2017-sbornik-komplet-2.pdf"
}