Abstract
The precise localization of the mobile robot plays a vital role in the autonomous operation of the mobile robot. The vision based simultaneous localization and mapping (SLAM) is a widely known technique for tracking the movement of the camera in the unknown environment. This paper presents a robot’s movement model which is based on the reference trajectory of the robot. The proposed model was compared with the state-of-the-art model used in the successful MonoSLAM system[8] and provided good results.
This research was supported by the Polish Ministry of Science and Higher Education under Grant No. N514 294635 for the years 2008-2010, which is gratefully acknowledged.
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Schmidt, A., Kasiński, A. (2010). The Visual SLAM System for a Hexapod Robot. In: Bolc, L., Tadeusiewicz, R., Chmielewski, L.J., Wojciechowski, K. (eds) Computer Vision and Graphics. ICCVG 2010. Lecture Notes in Computer Science, vol 6375. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-15907-7_32
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DOI: https://doi.org/10.1007/978-3-642-15907-7_32
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