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Conditional simultaneous localization and mapping: A robust visual SLAM system
Neurocomputing, 2014Abstract Visual simultaneous localization and mapping (VSLAM) is becoming increasingly popular in research and industry as a solution for mapping an unknown environment with moving cameras. However, classic methods such as the Extended Kalman Filter (EKF)-based VSLAM have two significant limitations: First, their robustness and accuracy drop ...
Jigang Liu +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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Predicting the Performance of Cooperative Simultaneous Localization and Mapping (C-SLAM)
The International Journal of Robotics Research, 2006In this paper we study the time evolution of the position estimates’ covariance in Cooperative Simultaneous Localization and Mapping (C-SLAM), and obtain analytical upper bounds for the positioning uncertainty. The derived bounds provide descriptions of the asymptotic positioning performance of a team of robots in a mapping task, as a function of the ...
Anastasios I. Mourikis +1 more
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An evolutionary algorithm for simultaneous localization and mapping (SLAM) of mobile robots
Advanced Robotics, 2007This paper presents a novel algorithm for simultaneous localization and mapping (SLAM) of mobile robots. The algorithm, termed Evolutionary SLAM, is based on an island model genetic algorithm (IGA). The IGA searches for the most probable map(s) such that the underlying robot's pose(s) provide(s) a robot with the best localization information.
Momotaz Begum +2 more
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Simultaneous Localization and Mapping (SLAM)
, 2016Andreas Birk, M. Pfingsthorn
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Embedded Systems play a crucial role in modern systems development. Due to increasing miniaturization and computational power, they are ubiquitously used in various domains, e.g. automotive, life sciences, and industrial automation. It is therefore essential to include a profound education in this domain in the curricula of computer science and ...
Sebastian Schlesinger +6 more
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Sebastian Schlesinger +6 more
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