Result Details

Exploration in the VisualSLAM

ROZMAN, J.; ZBOŘIL, F. Exploration in the VisualSLAM. 2nd International Conference on Computer Modelling and Simulation. Brno: Faculty of Information Technology BUT, 2011. p. 119-127. ISBN: 978-80-214-4320-4.
Type
conference paper
Language
English
Authors
Rozman Jaroslav, Ing., Ph.D., DITS (FIT)
Zbořil František, doc. Ing., CSc., UAMT (FEEC), DITS (FIT)
Abstract

This paper deals with the exploration strategy for the robot that maps its neighbourhood
with the use of the stereocamera. The mapping algorithm detect the significant features,
finds correspondences in both imaes, matches them together and computes their 3D coordinates.
The main part of this paper is focused on the selection of the goal points that the robot
will examine. This is an important issue in the Simultaneous Localization and Mapping (SLAM)
algorithms, because it is preferable for the robot to explore as large area as possible in the
short amount of time.

Keywords

SLAM, visualSLAM, significant features, robot exploration

Published
2011
Pages
119–127
Proceedings
2nd International Conference on Computer Modelling and Simulation
Conference
International Conference on Computer Modelling and Simulation - CSSim 2011
ISBN
978-80-214-4320-4
Publisher
Faculty of Information Technology BUT
Place
Brno
BibTeX 
@inproceedings{BUT91085,
  author="Jaroslav {Rozman} and František {Zbořil}",
  title="Exploration in the VisualSLAM",
  booktitle="2nd International Conference on Computer Modelling and Simulation",
  year="2011",
  pages="119--127",
  publisher="Faculty of Information Technology BUT",
  address="Brno",
  isbn="978-80-214-4320-4",
  url="https://www.fit.vut.cz/research/publication/9526/"
}
Files
Projects
Specifický výzkum, BUT, Vnitřní projekty VUT, SV, start: 2005-01-01, end: 2009-12-31, completed
Research groups
Intelligent Systems Research Group (RG INTSYS)
Departments
Department of Intelligent Systems (DITS)
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