Pregled bibliografske jedinice broj: 1123714
An online SLAM-based mosaicking using local maps for ROVs
An online SLAM-based mosaicking using local maps for ROVs // 2011 IEEE International Conference on Robotics and Automation
Šangaj, Kina: Institute of Electrical and Electronics Engineers (IEEE), 2011. str. 1058-1063 doi:10.1109/icra.2011.5980521 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
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Naslov
An online SLAM-based mosaicking using local maps for
ROVs
Autori
Ferreira, F. ; Veruggio, G. ; Caccia, M. ; Bruzzone, G.
Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni
Izvornik
2011 IEEE International Conference on Robotics and Automation
/ - : Institute of Electrical and Electronics Engineers (IEEE), 2011, 1058-1063
ISBN
978-1-61284-385-8
Skup
2011 IEEE International Conference on Robotics and Automation
Mjesto i datum
Šangaj, Kina, 09.05.2011. - 13.05.2011
Vrsta sudjelovanja
Predavanje
Vrsta recenzije
Međunarodna recenzija
Ključne riječi
Simultaneous localization and mapping , Correlation , Feature extraction , Vehicles , Tracking , Reliability , Detectors
Sažetak
This article discusses the possibility of building online a mosaic of the seafloor relying on a SLAM framework. The goal is to provide the ROV operator with an approximated seafloor's visual map relatively rough. In order to have that map, it is important to get an accurate estimate of the location of the visual landmarks and, in particular, a correct data association when a visual landmark is re-visited by the vehicle. The pro posed approach uses the combination of a set of local mosaics constructed in the proximity of the SLAM visual landmarks instead of using a global mosaic. The algorithm was tested using a batch of experimental data in typical operating conditions and the results show the effectiveness of the approach.
Izvorni jezik
Engleski
Znanstvena područja
Elektrotehnika, Računarstvo
