Creator:

Bączyk, Robert ; Kasiński, Andrzej

Contributor:

Korbicz, Józef (1951- ) - red. ; Uciński, Dariusz - red.

Title:

Visual simultaneous localisation and map-building supported by structured landmarks

Group publication title:

AMCS, Volume 20 (2010)

Subject and Keywords:

mobile robots ; navigation ; SLAM ; artificial landmarks

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.

Publisher:

Zielona Góra: Uniwersytet Zielonogórski

Date:

2010

Resource Type:

artykuł

DOI:

10.2478/v10006-010-0021-7

Pages:

281-293

Source:

AMCS, Volume 20, Number 2 (2010) ; click here to follow the link

Language:

eng

License CC BY 4.0:

click here to follow the link

Rights:

Biblioteka Uniwersytetu Zielonogórskiego