Graph Structure-Based Simultaneous Localization and Mapping Using a Hybrid Method of 2D Laser Scan and Monocular Camera Image in Environments with Laser Scan Ambiguity.

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作者： Taekjun,Oh ^[1] ; Donghwa,Lee ^[2] ; Hyungjin,Kim ^[3] ; Hyun,Myung ^[4]

作者单位： Urban Robotics Laboratory (URL), Korea Advanced Institute of Science and Technology (KAIST), 291 Daehak-ro (373-1 Guseong-dong), Yuseong-gu, Daejeon 305-701, Korea. buljaga@kaist.ac.kr. ^[1] Urban Robotics Laboratory (URL), Korea Advanced Institute of Science and Technology (KAIST), 291 Daehak-ro (373-1 Guseong-dong), Yuseong-gu, Daejeon 305-701, Korea. leedonghwa@kaist.ac.kr. ^[2] Urban Robotics Laboratory (URL), Korea Advanced Institute of Science and Technology (KAIST), 291 Daehak-ro (373-1 Guseong-dong), Yuseong-gu, Daejeon 305-701, Korea. hjkim86@kaist.ac.kr. ^[3] Urban Robotics Laboratory (URL), Korea Advanced Institute of Science and Technology (KAIST), 291 Daehak-ro (373-1 Guseong-dong), Yuseong-gu, Daejeon 305-701, Korea. hmyung@kaist.ac.kr. ^[4]

关键词 graph-based SLAM hybrid method intrinsic and extrinsic camera calibration laser scan ambiguity

DOI 10.3390/s150715830

PMID 26151203

发布时间 2018-11-13

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