A Novel Approach for Lidar-Based Robot Localization in a Scale-Drifted Map Constructed Using Monocular SLAM

Scale ambiguity and drift are inherent drawbacks of a pure-visual monocular simultaneous localization and mapping (SLAM) system. This problem could be a crucial challenge for other robots with range sensors to perform localization in a map previously built by a monocular camera. In this paper, a met...

Descripción completa

Detalles Bibliográficos
Autores principales: Wang, Su, Kobayashi, Yukinori, Ravankar, Ankit A., Ravankar, Abhijeet, Emaru, Takanori
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2019
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6567333/
https://www.ncbi.nlm.nih.gov/pubmed/31091810
http://dx.doi.org/10.3390/s19102230

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6567333/
https://www.ncbi.nlm.nih.gov/pubmed/31091810
http://dx.doi.org/10.3390/s19102230

Ejemplares similares