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Simultaneous Localization and Mapping (SLAM) is a key issue in robotics community. This paper presents a monocular vision and odometer based SLAM algorithm, making use of a novel artificial landmark which is called MR (Mobile Robot) code. During robot motion, the information from visual observations is fused with that from the odometer by Extended Strong Tracking Filter (STF), which can construct...
Making use of a novel artificial landmark which is called MR (Mobile Robot) code, on the basis of analysis of the motion model and observation model, an improved visual SLAM algorithm based on mixed data association is presented, which improves the localization precision of the robot and the map accuracy. Experimental results verify the effectiveness and robustness of the algorithm.
This paper presents a monocular vision and odometer based SLAM algorithm, making use of a novel artificial landmark which is called MR (Mobile Robot) code. A brief introduction of MR code system is given. A practical error model for odometric position estimation is described and the parameters are determined through experiments which verify the rationalities of the model. During robot motion, the...
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