Publication detail
General concepts of multi-sensor data-fusion based SLAM
KLEČKA, J. HORÁK, K. BOŠTÍK, O.
Original Title
General concepts of multi-sensor data-fusion based SLAM
Type
journal article - other
Language
English
Original Abstract
This paper is approaching a problem of Simultaneous Localization and Mapping (SLAM) algorithms focused specifically on processing of data from a heterogeneous set of sensors concurrently. Sensors are considered to be different in a sense of measured physical quantity and so the problem of effective data-fusion is discussed. A special extension of the standard probabilistic approach to SLAM algorithms is presented. This extension is composed of two parts. Firstly is presented general perspective multiple-sensors based SLAM and then thee archetypical special cases are discuses. One archetype provisionally designated as ”partially collective mapping” has been analyzed also in a practical perspective because it implies a promising options for implicit map-level data-fusion.
Keywords
Simultaneous localization and mapping (SLAM);Localization;Mapping;Data fusion;Partially collective mapping
Authors
KLEČKA, J.; HORÁK, K.; BOŠTÍK, O.
Released
1. 6. 2020
Publisher
Institute of Advanced Engineering and Science
ISBN
2089-4856
Periodical
International Journal of Robotics and Automation (IJRA)
Year of study
9
Number
2
State
Republic of Indonesia
Pages from
63
Pages to
72
Pages count
10
URL
Full text in the Digital Library
BibTex
@article{BUT164281,
author="Jan {Klečka} and Karel {Horák} and Ondřej {Boštík}",
title="General concepts of multi-sensor data-fusion based SLAM",
journal="International Journal of Robotics and Automation (IJRA)",
year="2020",
volume="9",
number="2",
pages="63--72",
doi="10.11591/ijra.v9i2.pp63-72",
issn="2089-4856",
url="http://ijra.iaescore.com/index.php/IJRA/article/view/20258/12906"
}