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Filter design for simultaneous localization and map building (SLAM)
Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292), 2003This paper deals with the fusion of random variables when cross covariances are unknown. This is a vital problem in nearly every real world application since cross covariances are often impossible to obtain, but also cannot be ignored. We provide a rigorous derivation of the fusion equations which are also known as covariance intersection.
Christian Schlegel, Thomas Kämpke
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ROSLAM—A Faster Algorithm for Simultaneous Localization and Mapping (SLAM)
2016Computationally efficient SLAM (CESLAM) has been proposed to solve simultaneous localization and mapping problem in real-time design. CESLAM first uses the landmark measurement with the maximum likelihood to update the particle states and then update their associated landmarks later.
Teng-Wei Huang +3 more
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An approach to appearance-based simultaneous localization and map building (SLAM)
IEEE Conference on Robotics, Automation and Mechatronics, 2004., 2005Current robotic localization and SLAM algorithms are restricted to simple geometric features such as lines and corners as landmarks. The richness of the information provided by visual perception has not been fully explored. This paper presents a vision based SLAM algorithm which utilizes visual information with minimal prior assumptions.
Chun-Fan Lee, Arcot Sowmya
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Adaptive Computation Algorithm for Simultaneous Localization and Mapping (SLAM)
2016Computationally Efficient SLAM (CESLAM) was proposed to improve the accuracy and runtime efficiency of FastSLAM 1.0 and FastSLAM 2.0. This method adopts the landmark measurement with the maximum likelihood, where the particle state is updated before updating the landmark estimate. Also, CESLAM solves the problem of real-time performance. In this paper,
Da-Wei Kung +3 more
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Simultaneous Localization and Mapping (SLAM) in Mobile Robots
2013This chapter first introduces the concept of SLAM for navigation of mobile robots and then describes the extended Kalman filter (EKF) based SLAM algorithms in detail. Next we consider a more complex scenario where this EKF based SLAM algorithm is implemented in presence of incorrect knowledge of sensor statistics and discuss how fuzzy or neuro-fuzzy ...
Amitava Chatterjee +2 more
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Simultaneous Localization and Mapping (SLAM) for warehouse applications
International Journal of Science and Research ArchiveThe ravaging impacts of the COVID-19 pandemic on global supply chains and its exposures of the vulnerabilities of the This research paper describes the development and implementation of a practical SLAM model for warehouse application. SLAM technology allows autonomous systems to map unknown environments while estimating their own position.
null Anagha J. Choudhary +4 more
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SPM-SLAM: Simultaneous localization and mapping with squared planar markers
Pattern Recognition, 2019Abstract SLAM is generally addressed using natural landmarks such as keypoints or texture, but it poses some limitations, such as the need for enough textured environments and high computational demands. In some cases, it is preferable sacrificing the flexibility of such methods for an increase in speed and robustness by using artificial landmarks ...
Rafael Muñoz-Salinas +2 more
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Simultaneous Localization and Mapping (SLAM)
2020Kshitij Tiwari, Nak Young Chong
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