Detail publikačního výsledku

General concepts of multi-sensor data-fusion based SLAM

KLEČKA, J.; HORÁK, K.; BOŠTÍK, O.

Originální název

General concepts of multi-sensor data-fusion based SLAM

Anglický název

General concepts of multi-sensor data-fusion based SLAM

Druh

Článek recenzovaný mimo WoS a Scopus

Originální abstrakt

This paper is approaching a problem of Simultaneous Localization and Mapping (SLAM) algorithms focused specifically on processing of data from a heterogeneous set of sensors concurrently. Sensors are considered to be different in a sense of measured physical quantity and so the problem of effective data-fusion is discussed. A special extension of the standard probabilistic approach to SLAM algorithms is presented. This extension is composed of two parts. Firstly is presented general perspective multiple-sensors based SLAM and then thee archetypical special cases are discuses. One archetype provisionally designated as ”partially collective mapping” has been analyzed also in a practical perspective because it implies a promising options for implicit map-level data-fusion.

Anglický abstrakt

This paper is approaching a problem of Simultaneous Localization and Mapping (SLAM) algorithms focused specifically on processing of data from a heterogeneous set of sensors concurrently. Sensors are considered to be different in a sense of measured physical quantity and so the problem of effective data-fusion is discussed. A special extension of the standard probabilistic approach to SLAM algorithms is presented. This extension is composed of two parts. Firstly is presented general perspective multiple-sensors based SLAM and then thee archetypical special cases are discuses. One archetype provisionally designated as ”partially collective mapping” has been analyzed also in a practical perspective because it implies a promising options for implicit map-level data-fusion.

Klíčová slova

Simultaneous localization and mapping (SLAM);Localization;Mapping;Data fusion;Partially collective mapping

Klíčová slova v angličtině

Simultaneous localization and mapping (SLAM);Localization;Mapping;Data fusion;Partially collective mapping

Autoři

KLEČKA, J.; HORÁK, K.; BOŠTÍK, O.

Rok RIV

2021

Vydáno

01.06.2020

Nakladatel

Institute of Advanced Engineering and Science

ISSN

2089-4856

Periodikum

International Journal of Robotics and Automation (IJRA)

Svazek

9

Číslo

2

Stát

Indonéská republika

Strany od

63

Strany do

72

Strany počet

10

URL

http://ijra.iaescore.com/index.php/IJRA/article/view/20258/12906

Plný text v Digitální knihovně

http://hdl.handle.net/11012/193374

BibTex

@article{BUT164281,
  author="Jan {Klečka} and Karel {Horák} and Ondřej {Boštík}",
  title="General concepts of multi-sensor data-fusion based SLAM",
  journal="International Journal of Robotics and Automation (IJRA)",
  year="2020",
  volume="9",
  number="2",
  pages="63--72",
  doi="10.11591/ijra.v9i2.pp63-72",
  issn="2089-4856",
  url="http://ijra.iaescore.com/index.php/IJRA/article/view/20258/12906"
}

Dokumenty

20258-37747-1-PB