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

doi:10.3103/S8756699017060097

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

Результат исследования: Научные публикации в периодических изданиях › статья › рецензирование

1 Цитирования (Scopus)

Аннотация

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.

Язык оригинала	английский
Страницы (с-по)	599-603
Число страниц	5
Журнал	Optoelectronics, Instrumentation and Data Processing
Том	53
Номер выпуска	6
DOI	https://doi.org/10.3103/S8756699017060097
Состояние	Опубликовано - 1 ноя 2017

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10.3103/S8756699017060097

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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.",

keywords = "iterative closest point (ICP) algorithm, loop closure, particle filter, position prediction, simultaneous localization and mapping (SLAM)",

author = "Baramiya, {D. A.} and D{\textquoteright}yakov, {M. S.} and Kuzikovskii, {S. A.} and Lavrentyev, {M. M.}",

year = "2017",

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Simultaneous Localization and Mapping System on the Basis of a CoreSLAM Approach. / Baramiya, D. A.; D’yakov, M. S.; Kuzikovskii, S. A.; Lavrentyev, M. M.

В: Optoelectronics, Instrumentation and Data Processing, Том 53, № 6, 01.11.2017, стр. 599-603.

Результат исследования: Научные публикации в периодических изданиях › статья › рецензирование

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T1 - Simultaneous Localization and Mapping System on the Basis of a CoreSLAM Approach

AU - Baramiya, D. A.

AU - D’yakov, M. S.

AU - Kuzikovskii, S. A.

AU - Lavrentyev, M. M.

PY - 2017/11/1

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N2 - 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.

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KW - iterative closest point (ICP) algorithm

KW - loop closure

KW - particle filter

KW - position prediction

KW - simultaneous localization and mapping (SLAM)

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