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A novel approach to the SLAM problem has been tested in an industrial environment within a robotic assistance context. In order to be fully reliable in non-modelled circumstances where the environment cannot be considered as known a priori, a robot assistant must be able to localize and map its environment. The use of a camera sensor to solve localization has several advantages and weaknesses due...
A novel policy to use the HOHCT validation algorithm is presented. HOHCT was introduced as a batch gating technique to validate data association in delayed initialization monocular SLAM. This new policy does not alter the inherent complexity of the algorithm, which lies in the exponential cost for worst case, but helps to keep it down to the average case-linear or quadratic-, while at the same time...
The ego-motion online estimation process from a video input is often called visual odometry. Typically optical flow and structure from motion (SFM) techniques have been used for visual odometry. Monocular simultaneous localization and mapping (SLAM) techniques implicitly estimate camera ego-motion while incrementally build a map of the environment. However in monocular SLAM, when the number of features...
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