Visual simultaneous localisation and map-building supported by structured landmarks

Robert Bączyk; Andrzej Kasiński

International Journal of Applied Mathematics and Computer Science (2010)

  • Volume: 20, Issue: 2, page 281-293
  • ISSN: 1641-876X

Abstract

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Visual simultaneous localisation and map-building systems which take advantage of some landmarks other than point-wise environment features are not frequently reported. In the following paper the method of using the operational map of robot surrounding, which is complemented with visible structured passive landmarks, is described. These landmarks are used to improve self-localisation accuracy of the robot camera and to reduce the size of the Kalman-filter state-vector with respect to the vector size involving point-wise environment features only. Structured landmarks reduce the drift of the camera pose estimate and improve the reliability of the map which is built on-line. Results of simulation experiments are described, proving advantages of such an approach.

How to cite

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Robert Bączyk, and Andrzej Kasiński. "Visual simultaneous localisation and map-building supported by structured landmarks." International Journal of Applied Mathematics and Computer Science 20.2 (2010): 281-293. <http://eudml.org/doc/207987>.

@article{RobertBączyk2010,
abstract = {Visual simultaneous localisation and map-building systems which take advantage of some landmarks other than point-wise environment features are not frequently reported. In the following paper the method of using the operational map of robot surrounding, which is complemented with visible structured passive landmarks, is described. These landmarks are used to improve self-localisation accuracy of the robot camera and to reduce the size of the Kalman-filter state-vector with respect to the vector size involving point-wise environment features only. Structured landmarks reduce the drift of the camera pose estimate and improve the reliability of the map which is built on-line. Results of simulation experiments are described, proving advantages of such an approach.},
author = {Robert Bączyk, Andrzej Kasiński},
journal = {International Journal of Applied Mathematics and Computer Science},
keywords = {mobile robots; navigation; SLAM; artificial landmarks},
language = {eng},
number = {2},
pages = {281-293},
title = {Visual simultaneous localisation and map-building supported by structured landmarks},
url = {http://eudml.org/doc/207987},
volume = {20},
year = {2010},
}

TY - JOUR
AU - Robert Bączyk
AU - Andrzej Kasiński
TI - Visual simultaneous localisation and map-building supported by structured landmarks
JO - International Journal of Applied Mathematics and Computer Science
PY - 2010
VL - 20
IS - 2
SP - 281
EP - 293
AB - Visual simultaneous localisation and map-building systems which take advantage of some landmarks other than point-wise environment features are not frequently reported. In the following paper the method of using the operational map of robot surrounding, which is complemented with visible structured passive landmarks, is described. These landmarks are used to improve self-localisation accuracy of the robot camera and to reduce the size of the Kalman-filter state-vector with respect to the vector size involving point-wise environment features only. Structured landmarks reduce the drift of the camera pose estimate and improve the reliability of the map which is built on-line. Results of simulation experiments are described, proving advantages of such an approach.
LA - eng
KW - mobile robots; navigation; SLAM; artificial landmarks
UR - http://eudml.org/doc/207987
ER -

References

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