基于物理传感器的移动机器人SLAM实现

2019 Systems of Signals Generating and Processing in the Field of on Board Communications Pub Date : 2019-03-01 DOI:10.1109/SOSG.2019.8706786

N. Belov, D. P. Airapetov, B. Buyanov, V. Verba

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引用次数: 5

摘要

利用微软Kinect多功能设备和Eken H9相机实现并研究了一种同时定位和绘制周围空间(SLAM)的算法。使用微软Kinect和激光雷达的比较分析。描述了使用Kinect建立、校准和获取周围空间3D模型的过程。在飞机上实现单目SLAM。研究了该系统的主要参数和存在的问题。将所得结果应用于一架六旋翼机。

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SLAM Implementation For Mobile Robots Using Physical Sensors

An algorithm for simultaneous localization and mapping of the surrounding space (SLAM) using the Microsoft Kinect multifunctional device and the Eken H9 camera has been implemented and investigated. A comparative analysis of the use of Microsoft Kinect and lidars. Describes the process of setting up, calibrating and obtaining a 3D model of the surrounding space using Kinect. Implemented monocular SLAM for use on board an aircraft. The main parameters and problems of the resulting system are investigated. The results obtained are applied on an aircraft of the type hexacopter.

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2019 Systems of Signals Generating and Processing in the Field of on Board Communications

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