Autor:

Skrzypczyński, Piotr

Współtwórca:

Zieliński, Cezary - ed.

Tytuł:

Simultaneous localization and mapping: A feature-based probabilistic approach

Podtytuł:

.

Tytuł publikacji grupowej:

AMCS, volume 19 (2009)

Temat i słowa kluczowe:

mobile robots ; navigation ; simultaneous localization and mapping ; feature matching

Abstract:

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 extensions to the basic EKF-SLAM method and some recent advances in SLAM are also presented.

Wydawca:

Zielona Góra: Uniwersytet Zielonogórski

Data wydania:

2009

Typ zasobu:

artykuł

DOI:

10.2478/v10006-009-0045-z

Strony:

575-588

Źródło:

AMCS, volume 19, number 4 (2009) ; click here to follow the link

Jezyk:

eng

Licencja CC BY 4.0:

click here to follow the link

Prawa do dysponowania publikacją:

Biblioteka Uniwersytetu Zielonogórskiego