Algorithm for Simultaneous Localization and Mapping Based on Video Signal Analysis
- Authors: Prozorov A.V.1, Priorov A.L.1, Tyukin A.L.1, Lebedev I.M.1
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Affiliations:
- Yaroslavl State University
- Issue: Vol 59, No 10 (2017)
- Pages: 1088-1093
- Section: Article
- URL: https://journals.rcsi.science/0543-1972/article/view/245938
- DOI: https://doi.org/10.1007/s11018-017-1097-3
- ID: 245938
Cite item
Abstract
A set of algorithms for simultaneous localization and mapping in industrial television systems is discussed. A probabilistic model of this problem is described with the FastSLAM algorithm as an example. The possibility of using a sigma-point Kalman filter for estimating the movement of spatial landmarks, a key feature of images characterized by stable detection and recognition within the video stream, is considered. A general model of the camera motion and a method for evaluating its spatial position using a particle filter are presented.
About the authors
A. V. Prozorov
Yaroslavl State University
Author for correspondence.
Email: alexprozoroff@gmail.com
Russian Federation, Yaroslavl
A. L. Priorov
Yaroslavl State University
Email: alexprozoroff@gmail.com
Russian Federation, Yaroslavl
A. L. Tyukin
Yaroslavl State University
Email: alexprozoroff@gmail.com
Russian Federation, Yaroslavl
I. M. Lebedev
Yaroslavl State University
Email: alexprozoroff@gmail.com
Russian Federation, Yaroslavl