A multi-sensor fusion SLAM algorithm for indoor aerial robotsView further author informationQinghua ZhangView further author informationQihang LinView further author informationWeiqiang ZaiView further author information284073939@qq.comXumei Lin
A scheme-switching mechanism is designed based on a thorough performance evaluation and selects the most suitable multi-sensor fusion SLAM method flexibly based on the characteristics of the scenes and the setting of the robot products. Among the three schemes, LVI-SAM-Stereo is a novel multi-...
Based on the experimental results, the first step is to develop a Wi-Fi network with the ROS framework for wireless sensor data collection and command execution. Second, the use of hector mapping allows for the creation of 2D/3D maps with minimal error. The development of a mobile robot ...
This article is concerned with the solution of the SLAM (Simultaneous Localization And Mapping) problem in an indoor environment using a low-cost mobile robot that autonomously explores the environment. The robot was constructed with a distance measurement subsystem composed of three types of sensors:...
With the continuous expansion of the application scenarios of indoor intelligent mobile robots, the requirements for robot technology are also constantly improving. Therefore, robot multi-sensor fusion technology has gradually been favored by many researchers in related fields [1,2,3]. At present, ...
Zhihao Lin, a graduate of Liaocheng University (2018), pursued an M.S. at Jilin University and is now a Ph.D. candidate at the University of Glasgow. His research concentrates on multi-sensor fusion SLAM systems and robotic perception in challenging environments.(39 words) ...
Building a 3D map of indoor environment is a prerequisite for various applications, ranging from service robot to augmented reality, where RGB-D SLAM is a commonly used technique. To efficiently and robustly build a 3D map via RGB-D SLAM on robot, or the RGB-D sensor mounted on a moving...
Autonomous navigation for a mobile robot still rem Chot,Hun,Lim,... - 《Journal of Computer Sciences》 被引量: 0发表: 2014年 Dynamic Multi-sensor Fusion for Mobile Robot Navigation In an Indoor Environment In this study, as the preliminary step for developing a multi-purpose Autonomous robust...
《Plane-Edge-SLAM: Seamless Fusion of Planes and Edges for SLAM in Indoor Environments》(TASE-2020 ) Motivation 平面特征和边特征在室内场景里是非常有用的特征,但是目前想要无缝融合这两个特征仍然是一个挑战(关于无缝融合的定义,读完论文,我认为作者想要表达的是一个实时权重调整的特性,论文的特征主体是面特...
激光测距仪(laser rangefinder)是最常用于开发SLAM算法的传感器之一。在文献[2]中,提出了Rao-Blackwellized算法,其中基于粒子滤波器的SLAM中产生的损耗问题已经被解决。另一方面,文献[4]中提出了用于大规模室内环境中无人地面车辆(UGV)定位的扫描匹配方法(scan matching method)和多分辨率似然地图生成算法(multi-resolutio...