Přístupnostní navigace
E-application
Search Search Close
Publication detail
KLEČKA, J. HORÁK, K. DAVÍDEK, D. NOVÁČEK, P.
Original Title
Non odometry SLAM and Effect of Feature Space Parametrization on its Covariance Convergence
Type
conference paper
Language
English
Original Abstract
This paper is aimed at non-odometry feature-based variant of SLAM (Simultaneous Localisation and Mapping) algorithm. The main focus has been given to processing of linearly constraint map landmarks observations. The observation model was simplified to linear and with this assumption is given derivation of three different variants of applicable SLAM algorithm – first variant which doesn’t take into consideration any map feature constraints, second variant which optimally process data under linear constraints assumption and third reduced variant which is designed to slightly suboptimal processing with significantly lower computational complexity. The performance of described methods was tested on synthetic data and results of simulations are presented at the end of this paper.
Keywords
SLAM, non-odometry SLAM, feature-based SLAM, Simultaneous Localisation and Mapping, mapping, parametrization of feature space
Authors
KLEČKA, J.; HORÁK, K.; DAVÍDEK, D.; NOVÁČEK, P.
Released
6. 10. 2016
ISBN
2405-8963
Periodical
IFAC-PapersOnLine (ELSEVIER)
Year of study
2016
Number
14
State
Kingdom of the Netherlands
Pages from
357
Pages to
362
Pages count
6
BibTex
@inproceedings{BUT128843, author="Jan {Klečka} and Karel {Horák} and Daniel {Davídek} and Petr {Nováček}", title="Non odometry SLAM and Effect of Feature Space Parametrization on its Covariance Convergence", booktitle="14th IFAC Conference on Programmable Devices and Embedded Systems - PDeS 2016", year="2016", journal="IFAC-PapersOnLine (ELSEVIER)", volume="2016", number="14", pages="357--362", doi="10.1016/j.ifacol.2016.12.024", issn="2405-8963" }