When measurements fail: using an interactive SLAM solution to fight bad odometry (CROSBI ID 706623)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Milijas, Robert ; Orsulic, Juraj ; Bogdan, Stjepan
engleski
When measurements fail: using an interactive SLAM solution to fight bad odometry
In this paper we use the underlying pose graph structure of graph SLAM to allow the user to inspect and intervene into the Simultaneous Localization and Mapping (SLAM) process. With post-processing the map by inserting custom constraints into the optimization problem, the user can improve the quality of the map obtained as the final SLAM result. We refer to this inspection and intervention process as interactive SLAM. The mathematical background, which allows such interventions, is laid out, and a software implementation is used to improve the quality of a map created at the Faculty of Electrical Engineering and Computing, University of Zagreb.
SLAM ; Robotics ; Interactive SLAM
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Podaci o prilogu
1-6.
2020.
objavljeno
10.1109/i2mtc43012.2020.9129529
Podaci o matičnoj publikaciji
2020 IEEE International Instrumentation and Measurement Technology Conference (I2MTC)
Institute of Electrical and Electronics Engineers (IEEE)
978-1-7281-4460-3
Podaci o skupu
2020 IEEE International Instrumentation and Measurement Technology Conference (I2MTC 2020)
predavanje
25.05.2020-29.05.2020
Dubrovnik, Hrvatska