Displaying similar documents to “Combining odometry and visual loop-closure detection for consistent topo-metrical mapping”

Simultaneous Localization And Mapping: A feature-based probabilistic approach

Piotr Skrzypczyński (2009)

International Journal of Applied Mathematics and Computer Science

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This article provides an introduction to Simultaneous Localization And Mapping (SLAM), with the focus on probabilistic SLAM utilizing a feature-based description of the environment. A probabilistic formulation of the SLAM problem is introduced, and a solution based on the Extended Kalman Filter (EKF-SLAM) is shown. Important issues of convergence, consistency, observability, data association and scaling in EKF-SLAM are discussed from both theoretical and practical points of view. Major...

Visual simultaneous localisation and map-building supported by structured landmarks

Robert Bączyk, Andrzej Kasiński (2010)

International Journal of Applied Mathematics and Computer Science

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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...

Uncertainty models of vision sensors in mobile robot positioning

Piotr Skrzypczyński (2005)

International Journal of Applied Mathematics and Computer Science

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This paper discusses how uncertainty models of vision-based positioning sensors can be used to support the planning and optimization of positioning actions for mobile robots. Two sensor types are considered: a global vision with overhead cameras, and an on-board camera observing artificial landmarks. The developed sensor models are applied to optimize robot positioning actions in a distributed system of mobile robots and monitoring sensors, and to plan the sequence of actions for a robot...

KIS: An automated attribute induction method for classification of DNA sequences

Rafał Biedrzycki, Jarosław Arabas (2012)

International Journal of Applied Mathematics and Computer Science

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This paper presents an application of methods from the machine learning domain to solving the task of DNA sequence recognition. We present an algorithm that learns to recognize groups of DNA sequences sharing common features such as sequence functionality. We demonstrate application of the algorithm to find splice sites, i.e., to properly detect donor and acceptor sequences. We compare the results with those of reference methods that have been designed and tuned to detect splice sites....

Application of a Java-based framework to parallel simulation of large-scale systems

Ewa Niewiadomska-Szynkiewicz, Maciej Żmuda, Maciej Żmuda (2003)

International Journal of Applied Mathematics and Computer Science

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Large-scale systems, such as computer and telecommunication networks, complex control systems and many others, operate in inherently parallel environments. It follows that there are many opportunities to admit parallelism into both the algorithm of control implementation and simulation of the system operation considered. The paper addresses issues associated with the application of parallel discrete event simulation (PDES). We discuss the PDES terminology and methodology. Particular...