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Алгоритм одновременной локализации и картографии на основе анализа видеосигнала
Abstract
This paper discusses the implementation of simultaneous localization and mapping algorithms in industrial television system. A description of a probabilistic model of the SLAM task is presented based on the FastSLAM algorithm. The article also discusses the possibility of using the unscented Kalman filter to estimate the movement of spatial landmarks. These points are the key features of the camera images that can be consistently detected and recognized within the video stream. The work contains a general model of camera movement and the method of assessing the pose in a space using a particle filter.
About the Authors
А. Прозоров
Ярославский государственный университет им. П. Г. Демидова
Russian Federation
Russian Federation
А. Приоров
Ярославский государственный университет им. П. Г. Демидова
Russian Federation
Russian Federation
А. Тюкин
Ярославский государственный университет им. П. Г. Демидова
Russian Federation
Russian Federation
И. Лебедев
Ярославский государственный университет им. П. Г. Демидова
Russian Federation
Russian Federation
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Review
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