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/"
}