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Bearing-only landmark initialization with unknown data association

A. Costa, G. Kantor, H. Choset
<span title="">2004</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/nytnrt3gtzbixld5r6a4talbky" style="color: black;">IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA &#39;04. 2004</a> </i> &nbsp;
This paper presents an iterative solution to the landmark initialization problem inherent in a bearing-only implementation of SLAM.  ...  It is essential in many applications that mobile robots localize themselves with respect to an unknown environment.  ...  ACKNOWLEDGMENTS The authors would like to sincerely thank Brad Lisien not only for his readily available assistance, but also for the data from Wean Hall at Carnegie Mellon University used for the indoor  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/robot.2004.1308079">doi:10.1109/robot.2004.1308079</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/icra/CostaKC04.html">dblp:conf/icra/CostaKC04</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/7je6fadt2bardok22mppvuclvi">fatcat:7je6fadt2bardok22mppvuclvi</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20060924015549/http://voronoi.sbp.ri.cmu.edu/papers/286_WP-13_2.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/9b/46/9b4693ac0eaded6987d629a3c508a1f141dc6be5.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/robot.2004.1308079"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Visual Bearing-Only Simultaneous Localization and Mapping with Improved Feature Matching [chapter]

Hauke Strasdat, Cyrill Stachniss, Maren Bennewitz, Wolfram Burgard
<span title="">2007</span> <i title="Springer Berlin Heidelberg"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/s6fxbajxtfe6zaqsoyhu5rpxfy" style="color: black;">Autonome Mobile Systeme 2007</a> </i> &nbsp;
In this this paper, we present a solution to the simultaneous localization and mapping (SLAM) problem for a robot equipped with a single perspective camera.  ...  Experimental results obtained with a real robot show that our approach is robust and tolerant to noise in the odometry information of the robot.  ...  Landmarks, however, are initialized only if the depth can be estimated with low variance.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/978-3-540-74764-2_3">doi:10.1007/978-3-540-74764-2_3</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/ams/StrasdatSBB07.html">dblp:conf/ams/StrasdatSBB07</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/hn73ohcypjdademcfsl5aibxhm">fatcat:hn73ohcypjdademcfsl5aibxhm</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170809005823/http://hrl.informatik.uni-freiburg.de/papers/strasdat07ams.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/c1/27/c127e9d4b548d2db929530a0feccc9875e6bc71e.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/978-3-540-74764-2_3"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> springer.com </button> </a>

Vision-based SLAM using natural features in indoor environments

J.V. Miro, G. Dissanayake, Weizhen Zhou
<span title="">2005</span> <i title="IEEE"> 2005 International Conference on Intelligent Sensors, Sensor Networks and Information Processing </i> &nbsp;
Range information estimates from the stereo pair is only used during map building in the landmark initialization phase in order to provide a reasonably accurate initial estimate.  ...  An additional benefit of the approach presented here lies in the data association aspect of SLAM.  ...  It will be interesting to compare results between the bearing-only implementation proposed here and a full stereoscopic-based range-and-bearing SLAM with the robust data association exhibited by SIFT or  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/issnip.2005.1595571">doi:10.1109/issnip.2005.1595571</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/ibha2mvafzbxpbpfgzdqadoh2a">fatcat:ibha2mvafzbxpbpfgzdqadoh2a</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170705142521/https://opus.lib.uts.edu.au/bitstream/10453/2619/3/2006006392.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/99/9c/999c8cbd48683122bdae1fc66b8bd876527db38b.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/issnip.2005.1595571"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Bearing-only Simultaneous Localization and Mapping for Vision-Based Mobile Robots [chapter]

Henry Huang, Frederic Maire, Narongdech Keeratiprano
<span title="2007-06-01">2007</span> <i title="I-Tech Education and Publishing"> Vision Systems: Applications </i> &nbsp;
Costa et al. (2004) presented an iterative solution to the landmark initialization of bearing-only SLAM problem with unknown data association (i.e., all landmarks are visually identical).  ...  We are currently working on the unknown data association when all landmarks are visually identical. In future work, we will deal with the problems of object occlusion and non-planar environments.  ...  Bearing-only Simultaneous Localization and Mapping for Vision-Based Mobile Robots, Vision Systems: Applications, Goro Obinata and Ashish Dutta (Ed.), ISBN: 978-3-902613-01-1, InTech, Available from: http  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.5772/4996">doi:10.5772/4996</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/mmc636cp5bcejascxobbueu2qq">fatcat:mmc636cp5bcejascxobbueu2qq</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20180728065711/https://api.intechopen.com/chapter/pdf-download/360" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/78/cb/78cbcb32b57b6daf74b282cf9652444fb1821f85.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.5772/4996"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> Publisher / doi.org </button> </a>

State Estimation for Autonomous Flight in Cluttered Environments

Jack W. Langelaan
<span title="">2007</span> <i title="American Institute of Aeronautics and Astronautics (AIAA)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/yekwqy6srncl5bew6tynp7vjsq" style="color: black;">Journal of Guidance Control and Dynamics</a> </i> &nbsp;
At first glance it seems we wander randomly, but in reality he guides us with careful hints and suggestions.  ...  Most importantly I am grateful for the family-friendly environment he fosters, encouraging all of us with children to take the time to watch them grow.  ...  The bearings-only exteroceptive measurements also complicate the problems of data association (correctly associating a bearing with its corresponding landmark) and landmark initialization (computing an  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.2514/1.27770">doi:10.2514/1.27770</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/ay5sbtetive2hmxzzcughiafdq">fatcat:ay5sbtetive2hmxzzcughiafdq</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20100701070653/http://www2.aero.psu.edu/jack/pubs/dissertation_ds.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/9d/f3/9df3ab66e3caecbf5f8a3826d7b0b8e5c440c695.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.2514/1.27770"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> Publisher / doi.org </button> </a>

A solution to the simultaneous localization and map building (SLAM) problem

M.W.M.G. Dissanayake, P. Newman, S. Clark, H.F. Durrant-Whyte, M. Csorba
<span title="">2001</span> <i title="Institute of Electrical and Electronics Engineers (IEEE)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/e7nb2ustinavvlg2tmd7bwiy5m" style="color: black;">IEEE Transactions on Robotics and Automation</a> </i> &nbsp;
The results obtained are cross-compared with absolute locations of the map landmarks obtained by surveying.  ...  This implementation is used to demonstrate how some key issues such as map management and data association can be handled in a practical environment.  ...  This data set illustrates the importance of correct landmark identification, initialization and subsequent data association.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/70.938381">doi:10.1109/70.938381</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/ggymmwpu7ncrpmeo4djwminvpu">fatcat:ggymmwpu7ncrpmeo4djwminvpu</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20190302210634/http://pdfs.semanticscholar.org/bc89/2d9fdb127ebe7e567de114e9acc8cf266b55.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/bc/89/bc892d9fdb127ebe7e567de114e9acc8cf266b55.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/70.938381"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

FIDD Bearing-Only SLAM

Rodrigo Munguia, Antoni Grau
<span title="">2010</span> <i title="IEEE"> 2010 IEEE International Symposium on Industrial Electronics </i> &nbsp;
In this work a novel method, called Filtered Inverse Depth Delayed (FIDD) Initialization which is intended for initializing new features in Bearing-Only SLAM systems.  ...  This fact has propitiated the emergence of a new family of SLAM algorithms: the Bearing-Only SLAM methods, which mainly rely in especial techniques for features system-initialization in order to enable  ...  At this stage it is assumed that the bearing sensor is capable of tracking and discriminating between the landmarks, in other words, the data association problem is obviated.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/isie.2010.5637549">doi:10.1109/isie.2010.5637549</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/pf5oxtzjezdi3ey2ido2adw6ai">fatcat:pf5oxtzjezdi3ey2ido2adw6ai</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170818172134/http://upcommons.upc.edu/bitstream/handle/2117/12465/1858-bf-003603.pdf?sequence=1" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/62/1a/621af80154d1c9147710c1ba7e29e1bd358f2059.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/isie.2010.5637549"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Eavesdropping like a bat: Towards fusing active and passive sonar for a case study in simultaneous localization and mapping

Masoud Jahromi Shirazi, Nicole Abaid
<span title="2021-05-22">2021</span> <i title="Institution of Engineering and Technology (IET)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/diaq33bq2jexne77uyugzdv2g4" style="color: black;">IET radar, sonar &amp; navigation</a> </i> &nbsp;
A common solution to this challenge is scanning sensors that sweep an angular range with successive measurements.  ...  The simulation results show that when the angular range of active sonar and associated noise is relatively small, the robot's performance in solving SLAM is improved.  ...  In the bearing-only SLAM, the data association is more challenging because the location of landmarks cannot be found by a single measurement.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1049/rsn2.12093">doi:10.1049/rsn2.12093</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/sjnrtwvt5nfgnkwylw27dkq2qe">fatcat:sjnrtwvt5nfgnkwylw27dkq2qe</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20210715042343/https://ietresearch.onlinelibrary.wiley.com/doi/pdfdirect/10.1049/rsn2.12093" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/9f/2a/9f2a65cd01710cb14edc4200e0b1a68d5b68139f.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1049/rsn2.12093"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> Publisher / doi.org </button> </a>

Towards Vision Based Navigation in Large Indoor Environments

Jaime Miro, Weizhen Zhou, Gamini Dissanayake
<span title="">2006</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/dmucnarmarh2fj6syg5jyqs7ny" style="color: black;">2006 IEEE/RSJ International Conference on Intelligent Robots and Systems</a> </i> &nbsp;
The paper highlights that, despite recent advances, building accurate geometric maps of large environments with vision only sensing is still a challenging task.  ...  transform (SIFT) and depth maps from a small vision system (SVS) stereo head, an extended Kalman filter (EKF) based SLAM algorithm, that allows the independent use of information relating to depth and bearing  ...  Data association with SIFT The main strength of SIFT is to produce a compact (128th dimensional) landmark descriptor that allows quick comparisons with other regions, and is rich enough to allow these  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/iros.2006.282487">doi:10.1109/iros.2006.282487</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/iros/MiroZD06.html">dblp:conf/iros/MiroZD06</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/6yd65eqeujbvxlyjnw5mjuauji">fatcat:6yd65eqeujbvxlyjnw5mjuauji</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170705143131/https://opus.lib.uts.edu.au/bitstream/10453/2865/3/2006006074.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/34/22/3422004c9fcb9b0b3c2ae8be1e6f8122972811da.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/iros.2006.282487"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Robust Autonomous Navigation and World Representation in Outdoor Environments [chapter]

Favio Masson, Juan Nieto, Jose Guivant, Eduardo Nebot
<span title="2007-02-01">2007</span> <i title="Pro Literatur Verlag, Germany / ARS, Austria"> Mobile Robots: Perception &amp; Navigation </i> &nbsp;
The initial distribution is created from range/bearing observations of a set of landmarks.  ...  With no data association a pair of observations will generate a family of curved cylinders to cover all possible hypotheses.  ...  With it, it is possible to obtain the complete update without violating conditions of consistency of the estimation.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.5772/4778">doi:10.5772/4778</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/ny3um6yitbffvawmpjaejbf36u">fatcat:ny3um6yitbffvawmpjaejbf36u</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20190503171300/https://cdn.intechopen.com/pdfs/142.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/55/fc/55fcc048b35291c62a9b1f46029728f865ab6e9e.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.5772/4778"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> Publisher / doi.org </button> </a>

Undelayed initialization in bearing only SLAM

J. Sola, A. Monin, M. Devy, T. Lemaire
<span title="">2005</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/dmucnarmarh2fj6syg5jyqs7ny" style="color: black;">2005 IEEE/RSJ International Conference on Intelligent Robots and Systems</a> </i> &nbsp;
Most solutions to the SLAM problem in robotics have utilized Range and Bearing sensors as the provided perception data is easy to incorporate, allowing immediate landmark initialization.  ...  This is not the case when using Bearing-Only information because the distance to the perceived landmarks is not directly provided.  ...  Using such a sensor leads to Bearing-Only SLAM. Landmark Initialization in Bearing-Only EKF-SLAM is a difficult task.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/iros.2005.1545392">doi:10.1109/iros.2005.1545392</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/iros/SolaMDL05.html">dblp:conf/iros/SolaMDL05</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/w4qo4up2uvaaxg4sixq66adwtq">fatcat:w4qo4up2uvaaxg4sixq66adwtq</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170925030846/https://hal.archives-ouvertes.fr/hal-01137845/document" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/1b/d0/1bd0334fd25348f01cab9a8285dd0af69b48e9f4.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/iros.2005.1545392"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Parsimonious real time monocular SLAM

Guillaume Bresson, Thomas Feraud, Romuald Aufrere, Paul Checchin, Roland Chapuis
<span title="">2012</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/7cbpwi7j75hgfoparrxqyf2c2i" style="color: black;">2012 IEEE Intelligent Vehicles Symposium</a> </i> &nbsp;
This paper presents a real time monocular EKF SLAM process that uses only Cartesian defined landmarks. This representation is easy to handle, light and consequently fast.  ...  Combined with an EKF, our method uses resources parsimoniously by conserving landmarks for a long period of time without requiring many points to be efficient.  ...  With a bearing-only sensor, it is an major issue as several observations of the same landmark are needed to have an accurate estimate of its position.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/ivs.2012.6232203">doi:10.1109/ivs.2012.6232203</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/ivs/BressonFACC12.html">dblp:conf/ivs/BressonFACC12</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/siwd6us7nvfwzhyfpnouhgdk7q">fatcat:siwd6us7nvfwzhyfpnouhgdk7q</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20190502034326/https://hal.inria.fr/hal-01351399/document" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/c8/5d/c85df036a42c7962d306132f18dd2d524bd9bfb2.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/ivs.2012.6232203"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Localization and map building using laser range sensors in outdoor applications

Jose Guivant, Eduardo Nebot, Stephan Baiker
<span title="">2000</span> <i title="Wiley"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/tlmzu22y2vgk7ipc3u533rc43i" style="color: black;">Journal of Robotic Systems</a> </i> &nbsp;
Furthermore we demonstrate that by using natural landmarks high accurate localization can be achieved by only requiring the initial estimate of the position of the vehicle.  ...  The data validation problem is addressed using laser intensity information.  ...  This will make the data association of the natural landmark possible with the potential of a significant reduction of the localization error.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1002/1097-4563(200010)17:10&lt;565::aid-rob4&gt;3.0.co;2-6">doi:10.1002/1097-4563(200010)17:10&lt;565::aid-rob4&gt;3.0.co;2-6</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/qfjhkblgqvdj5c6wwcygp4bjf4">fatcat:qfjhkblgqvdj5c6wwcygp4bjf4</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20190217064243/https://static.aminer.org/pdf/PDF/000/352/172/high_accuracy_navigation_using_laser_range_sensors_in_outdoor_applications.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/dd/c6/ddc6fb419680bd13e2a8ce2fc4f4abfb9063f85b.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1002/1097-4563(200010)17:10&lt;565::aid-rob4&gt;3.0.co;2-6"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> wiley.com </button> </a>

Incremental data association for acoustic structure from motion

Tiffany A. Huang, Michael Kaess
<span title="">2016</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/dmucnarmarh2fj6syg5jyqs7ny" style="color: black;">2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)</a> </i> &nbsp;
Our data association method uses information about the geometric correlations of the entire set of landmarks to reject spurious measurements or false positives that might otherwise have been accepted.  ...  We evaluate our algorithm in simulation and demonstrate successful data association results on real sonar images.  ...  We initialize 3D landmark locations using the following backprojection function (r is the range and ψ is the bearing):   x s y s z s   = r   cos ψcosθ sinψcosθ sinθ   (5) where the unknown elevation  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/iros.2016.7759220">doi:10.1109/iros.2016.7759220</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/iros/HuangK16.html">dblp:conf/iros/HuangK16</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/pcsygekv5bhx3j7oflmpy5evyu">fatcat:pcsygekv5bhx3j7oflmpy5evyu</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170401125031/http://frc.ri.cmu.edu:80/~kaess/pub/Huang16iros.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/ea/ae/eaae04410585c9251d1d9a5153b20c3e4d714a09.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/iros.2016.7759220"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Pseudolinear Model Based Solution to the SLAM Problem of Nonholonomic Mobile Robots

Chandima DEDDUWA PATHIRANAGE, Keigo WATANABE, Kiyotaka IZUMI
<span title="">2008</span> <i title="Japan Society of Mechanical Engineers"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/kvfrsktcpbe5hpfjpybpg7c2xy" style="color: black;">Journal of System Design and Dynamics</a> </i> &nbsp;
A measurement model with two sensor frames is proposed to improve the data association.  ...  Accurate estimation of vehicle and landmark states is one of the key issues for successful mobile robot navigation if the configuration of the environment and initial robot location are unknown.  ...  association can be dealt with, and how landmarks are initialized and tracked as the algorithm proceeds.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1299/jsdd.2.962">doi:10.1299/jsdd.2.962</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/52qq2xdcijgxbkiaiiyeu3y7o4">fatcat:52qq2xdcijgxbkiaiiyeu3y7o4</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20180729185511/https://www.jstage.jst.go.jp/article/jsdd/2/4/2_4_962/_pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/50/e8/50e83f7b80e24fa1a1270e09ea2230890c1a146f.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1299/jsdd.2.962"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> Publisher / doi.org </button> </a>
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