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
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;
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
DOI :
10.1109/ICCP.2009.5284777
