Graph structure-based simultaneous localization and mapping using a hybrid method of 2D laser scan and monocular camera image in environments with laser scan ambiguity

Sensors (Switzerland)

Volumn 15, Issue 7, 2015, Pages 15830-15852

  Oh, Taekjun ^a   Lee, Donghwa ^a   Kim, Hyungjin ^a   Myung, Hyun ^a  

^a Korea Advanced Institute of Science and Technology (KAIST)   (South Korea)

Author keywords

Graph based SLAM; Hybrid method; Intrinsic and extrinsic camera calibration; Laser scan ambiguity

Indexed keywords

CAMERAS; GRAPHIC METHODS; IMAGE MATCHING; INDOOR POSITIONING SYSTEMS; LASER APPLICATIONS; MAPPING; ROBOTICS; SCANNING;

CONVENTIONAL APPROACH; EXTRINSIC CAMERA; GRAPH-BASED; HYBRID METHOD; IMAGE FEATURE POINTS; LASER SCANS; SIMULTANEOUS LOCALIZATION AND MAPPING; SLAM (SIMULTANEOUS LOCALIZATION AND MAPPING);

ROBOTS;

EID: 84936980427     PISSN: 14248220     EISSN: None     Source Type: Journal    
DOI: 10.3390/s150715830     Document Type: Article

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