Movement Direction Estimation Using Omnidirectional Images in a SLAM Algorithm

2017 ◽  
pp. 640-651
Author(s):  
Yerai Berenguer ◽  
Luis Payá ◽  
Oscar Reinoso ◽  
Adrián Peidró ◽  
Luis Miguel Jiménez
Keyword(s):  
Movement Direction ◽  
Direction Estimation ◽  
Slam Algorithm ◽  
Omnidirectional Images

scholarly journals An Improved Extended Information Filter SLAM Algorithm Based on Omnidirectional Vision

2014 ◽  
Vol 2014 ◽  
pp. 1-10 ◽  
Author(s):  
Jingchuan Wang ◽  
Weidong Chen
Keyword(s):  
High Reliability ◽  
Information Matrix ◽  
Omnidirectional Vision ◽  
Great Efficiency ◽  
Repeated Observations ◽  
Global Correlation ◽  
Information Filter ◽  
Wide Scale ◽  
Slam Algorithm ◽  
Omnidirectional Images

In the SLAM application, omnidirectional vision extracts wide scale information and more features from environments. Traditional algorithms bring enormous computational complexity to omnidirectional vision SLAM. An improved extended information filter SLAM algorithm based on omnidirectional vision is presented in this paper. Based on the analysis of structure a characteristics of the information matrix, this algorithm improves computational efficiency. Considering the characteristics of omnidirectional images, an improved sparsification rule is also proposed. The sparse observation information has been utilized and the strongest global correlation has been maintained. So the accuracy of the estimated result is ensured by using proper sparsification of the information matrix. Then, through the error analysis, the error caused by sparsification can be eliminated by a relocation method. The results of experiments show that this method makes full use of the characteristic of repeated observations for landmarks in omnidirectional vision and maintains great efficiency and high reliability in mapping and localization.

Pipeline Filter Algorithm Based on Movement Direction Estimation

2013 ◽  
Vol 42 (4) ◽  
pp. 471-474 ◽  
Author(s):  
董维科 DONG Wei-ke ◽  
张建奇 ZHANG Jian-qi ◽  
刘德连 LIU De-lian ◽  
王晓蕊 WANG Xiao-rui
Keyword(s):  
Movement Direction ◽  
Direction Estimation
Sign in / Sign up

Export Citation Format

Share Document