Simultaneous Localization and Mapping System on the Basis of a CoreSLAM Approach

D. A. Baramiya, M. S. D’yakov, S. A. Kuzikovskii, M. M. Lavrentyev

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)

Abstract

A new method of loop closure based on storage of local maps of obstacles and meant for reducing accumulated localization errors is proposed. The advantage of this method in comparison with the earlier one is in the decreased amount of RAM. Testing results for the developed system and comparisons with analogs are presented.

Original languageEnglish
Pages (from-to)599-603
Number of pages5
JournalOptoelectronics, Instrumentation and Data Processing
Volume53
Issue number6
DOIs
Publication statusPublished - 1 Nov 2017

Keywords

  • iterative closest point (ICP) algorithm
  • loop closure
  • particle filter
  • position prediction
  • simultaneous localization and mapping (SLAM)

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