SLAM Using Monocular Vision and Inertial Measurements
Simone Franzini
Broschiertes Buch

SLAM Using Monocular Vision and Inertial Measurements

A New Low-cost Approach for Portable Simultaneous Localization and Mapping

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Simultaneous Localization and Mapping, comprising estimation of robot ego-motion and building a map of the surrounding environment, is one of the most fundamental tasks of mobile robotics. Many SLAM systems proposed in the past make use of the Global Positioning System (GPS), which renders them both expensive and overly dependent on the presence of the GPS signal. We propose an alternative, low-cost approach for portable SLAM which is based on monocular vision, a promising technique due to its flexibility, ease of use, and ease of calibration. In order to perform this task we use an Extended K...