与SLAM类似,VO算法也可以采用Bundle Adjustment与Pose-graph优化,但他的优化范围是基于窗口的,属于局部的,而SLAM优化的最终目的是全局地图。 SLAM算法通常会采用long term loop closure算法。当探测到当前位置曾经来过的时候(形成了loop),SLAM算法会根据历史信息,更新概率模型的先验数据,从而进一步降低整个路径的不确定性...
建模的这种变化无需不断更新施密特状态(或它们的协方差),允许EKF正确地解释它们与活动状态的相互关系,降低了计算量。因此,我们在地图大小方面实现了线性计算复杂度,在地图大小方面获得线性计算复杂度,而不是标准SLAM系统中的二次型。为了充分利用地图信息来约束导航漂移,提倡有效的关键帧辅助的2D到2D特征匹配,减少了大...
此外,使用扩展卡尔曼滤波器(EKF)SLAM解决SLAM问题的后端。进行了实验,并展示了提出的基于UWB雷达的SLAM能够在室内环境内映射自然点地标,并改善机器人定位。 同时定位与地图构建(SLAM)对于移动机器人在之前未探索的环境中导航以完成给定任务至关重要。SLAM算法通常依赖于连接到机器人的传感器。因此,探索新的感知技术以克...
MRPT EKF SLAM (3D表示) 编程学习笔记 An implementation of EKF-based SLAM with range-bearing sensors, odometry, a full 6D robot pose, and 3D landmarks. The main method is "processActionObservation" which processes pairs of action/observation. The following Wiki page describes an front-end ...
Ekf-Based Slam ProblemsThe present paper proposes a successful application of bacterial foraging strategies to improve the quality of solutions that extended Kalman filters (EKFs) can offer to solve simultaneous localization and mapping (SLAM) problems for mobile robots and autonomous vehicles. The ...
An implementation of EKF-based SLAM with range-bearing sensors, odometry, a full 6D robot pose, and 3D landmarks. The main method is "processActionObservation" which processes pairs of action/observation. The following Wiki page describes an front-end application based on this class:http://bab...
Li J S,Li Y Q,Zhou D. Analysis of the consistency of EKF-based SLAM[J]. Computer Simulation,2008,25( 6) : 155 - 160. [4]Castellanos J A,Martinez-Cantin R,Tardós J D,et al. Robocentric map joining: Improving the consistency of EKF-SLAM[J]. Robotics and Autonomous Systems,2007,...
关键词：同步定位和地图创建(SLAM)；压缩型扩展卡尔曼滤波；状态增广；计算复杂度 中图分类号：TP242 文献标识码：A 文章编号：1004-731X (2009) 18-5668-04 Improved SLAM Algorithm Based on Compressed-EKF ZHANG Hai-qiang, DOU Li-hua, F ANG Hao, CHEN Jie (Department of Automatic Control, ...
SLAM 算法不一致 研究结果表明 提高 EKF SLAM 算法一致性的关键在于降低对姿 态角估计的不确定性 关键词 自主移动机器人 同步定位与地图创建 扩展卡尔曼滤波 一致性 中图分类号 TP24 文献标识码 A Analysis of the Consistency of EKF based SLAM LI Jiu sheng 1 LIYong qiang1 ZHOU D i2 1 School of...
MRPT EKF SLAM (3D表示) 编程学习笔记 An implementation of EKF-based SLAM with range-bearing sensors, odometry, a full 6D robot pose, and 3D landmarks. The main method is "processActionObservation" which processes pairs of action/observation....