Detail publikačního výsledku

Methods for Simultaneous self Localization and Mapping for Depth Cameras

LIGOCKI, A.

Originální název

Methods for Simultaneous self Localization and Mapping for Depth Cameras

Anglický název

Methods for Simultaneous self Localization and Mapping for Depth Cameras

Druh

Stať ve sborníku v databázi WoS či Scopus

Originální abstrakt

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.

Anglický abstrakt

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.

Klíčová slova

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

Klíčová slova v angličtině

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

Autoři

LIGOCKI, A.

Rok RIV

2018

Vydáno

24.04.2017

Místo

Brno

ISBN

978-80-214-5496-5

Kniha

Sborník EEICT 2017

Strany od

193

Strany do

195

Strany počet

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"
}