Title :
Visual SLAM algorithm using correlation extremal principle
Author_Institution :
Aviation Comput.-Integrated Complexes Dept., Nat. Aviation Univ., Kiev, Ukraine
Abstract :
Visual information features for SLAM algorithm are considered. The problem of navigation for continuous observation of the ground surface is stated. The algorithm of correlation search and coordinates estimation is proposed based on Kalman filtering.
Keywords :
Kalman filters; SLAM (robots); feature extraction; path planning; robot vision; search problems; Kalman filtering; coordinates estimation algorithm; correlation extremal principle; correlation search algorithm; ground surface navigation; simultaneous localisation and mapping; visual SLAM algorithm; visual information feature; Equations; Estimation; Kalman filters; Navigation; Kalman filter; simultaneous localization and mapping (SLAM); statistical correlation;
Conference_Titel :
Methods and Systems of Navigation and Motion Control (MSNMC), 2012 2nd International Conference
Conference_Location :
Kiev
Print_ISBN :
978-1-4673-2551-6
DOI :
10.1109/MSNMC.2012.6475086
