Publication Details

Exploration in the VisualSLAM

ROZMAN, J.; ZBOŘIL, F. Exploration in the VisualSLAM. 2nd International Conference on Computer Modelling and Simulation. Brno: Faculty of Information Technology BUT, 2011. p. 1-8. ISBN: 978-80-214-4320-4.
Czech title
Zkoumání okolí při VisualSLAM
Type
conference paper
Language
English
Authors
Rozman Jaroslav, Ing., Ph.D. (DITS)
Zbořil František, doc. Ing., CSc. (DITS)
Keywords

SLAM, visualSLAM, significant features, robot exploration

Abstract

This paper deals with the exploration strategy for the robot that maps its neighbourhood with the use of the stereocamera. The mapping algorithm detect the significant features, finds correspondences in both imaes, matches them together and computes their 3D coordinates. The main part of this paper is focused on the selection of the goal points that the robot will examine. This is an important issue in the Simultaneous Localization and Mapping (SLAM) algorithms, because it is preferable for the robot to explore as large area as possible in the short amount of time.

Published
2011
Pages
1–8
Proceedings
2nd International Conference on Computer Modelling and Simulation
ISBN
978-80-214-4320-4
Publisher
Faculty of Information Technology BUT
Place
Brno
BibTeX 
@inproceedings{BUT91085,
  author="Jaroslav {Rozman} and František {Zbořil}",
  title="Exploration in the VisualSLAM",
  booktitle="2nd International Conference on Computer Modelling and Simulation",
  year="2011",
  pages="1--8",
  publisher="Faculty of Information Technology BUT",
  address="Brno",
  isbn="978-80-214-4320-4",
  url="https://www.fit.vut.cz/research/publication/9526/"
}
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