DocumentCode
1837331
Title
Real-time slam based on Hybrid Odometry and LDPDs (Local differential Probability Distances)
Author
Pojar, Dan ; Jeong, Pangyu ; Nedevschi, Sergiu
Author_Institution
Comput. Sci. Dept., Tech. Univ. of Cluj-Napoca, Cluj-Napoca, Romania
fYear
2009
fDate
27-29 Aug. 2009
Firstpage
119
Lastpage
126
Abstract
This paper presents a new type of SLAM for indoor and outdoor environments. This method solves only the simplest localization problem, position tracking, and does not use the mapping information in localization. The proposed SLAM uses hybrid odometry for the localization. Mapping is based on LDPDs (local differential probability distances) and accumulated 3D dense frames.
Keywords
SLAM (robots); distance measurement; mobile robots; position control; probability; robot vision; stereo image processing; hybrid odometry; local differential probability distance; localization problem; position tracking; real-time SLAM; stereo vision; Buildings; Cameras; Computer science; Global Positioning System; Roads; Robot kinematics; Robustness; Simultaneous localization and mapping; Stereo vision; Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Computer Communication and Processing, 2009. ICCP 2009. IEEE 5th International Conference on
Conference_Location
Cluj-Napoca
Print_ISBN
978-1-4244-5007-7
Type
conf
DOI
10.1109/ICCP.2009.5284777
Filename
5284777
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