Naslov
When measurements fail: using an interactive SLAM solution to fight bad odometry

Autori
Milijas, Robert ; Orsulic, Juraj ; Bogdan, Stjepan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
2020 IEEE International Instrumentation and Measurement Technology Conference (I2MTC) / - : Institute of Electrical and Electronics Engineers (IEEE), 2020, 1-6

ISBN
978-1-7281-4460-3

Skup
2020 IEEE International Instrumentation and Measurement Technology Conference (I2MTC 2020)

Mjesto i datum
Dubrovnik, Hrvatska, 25.05.2020. - 29.05.2020

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
SLAM ; Robotics ; Interactive SLAM

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo

POVEZANOST RADA