Study of Indoor Visual SLAM System for Semi-autonomous Robot Platform | Zendy

Yeon Taek OH | Zendy

AI Assistant Blog Pricing

Home ZAIA Blog

Open Access

Study of Indoor Visual SLAM System for Semi-autonomous Robot Platform

Author(s) -

Yeon Taek OH

Publication year - 2021

Publication title -

engineering and technology journal

Language(s) - English

Resource type - Journals

ISSN - 2456-3358

DOI - 10.47191/etj/v6i11.04

Subject(s) - initialization , simultaneous localization and mapping , computer vision , artificial intelligence , computer science , line (geometry) , robot , vanishing point , inverse , mobile robot , mathematics , image (mathematics) , geometry , programming language

This study propose the use of heterogeneous visual landmarks, points and line segments, to achieve effective cooperation in indoor SLAM environments. In order to achieve un-delayed initialization required by the bearing-only observations, the well-known inverse-depth parameterization is adopted to estimate 3D points. Similarly, to estimate 3D line segments, we present a novel parameterization based on anchored Plücker coordinates, to which extensible endpoints are added

The content you want is available to Zendy users.

Already have an account? Click here to sign in.

Having issues? You can contact us here

Accelerating Research