Email this article Simultaneous Localization and Mapping System on the Basis of a CoreSLAM Approach
- Authors: Baramiya D.A.1,2, D’yakov M.S.2, Kuzikovskii S.A.2,3, Lavrentyev M.M.1,3
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Affiliations:
- Novosibirsk State University
- LLC “SoftLab-NSK”
- Institute of Automation and Electrometry, Siberian Branch
- Issue: Vol 53, No 6 (2017)
- Pages: 599-603
- Section: Computational and Data Acquisition Systems
- URL: https://journals.rcsi.science/8756-6990/article/view/212291
- DOI: https://doi.org/10.3103/S8756699017060097
- ID: 212291
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Abstract
A new method of loop closure based on storage of local maps of obstacles and meant for reducing accumulated localization errors is proposed. The advantage of this method in comparison with the earlier one is in the decreased amount of RAM. Testing results for the developed system and comparisons with analogs are presented.
About the authors
D. A. Baramiya
Novosibirsk State University; LLC “SoftLab-NSK”
Author for correspondence.
Email: bard@sl.iae.nsk.su
Russian Federation, ul. Pirogova 2, Novosibirsk, 630090; pr. Akademika Koptyuga 1, Novosibirsk, 630090
M. S. D’yakov
LLC “SoftLab-NSK”
Email: bard@sl.iae.nsk.su
Russian Federation, pr. Akademika Koptyuga 1, Novosibirsk, 630090
S. A. Kuzikovskii
LLC “SoftLab-NSK”; Institute of Automation and Electrometry, Siberian Branch
Email: bard@sl.iae.nsk.su
Russian Federation, pr. Akademika Koptyuga 1, Novosibirsk, 630090; pr. Akademika Koptyuga 1, Novosibirsk, 630090
M. M. Lavrentyev
Novosibirsk State University; Institute of Automation and Electrometry, Siberian Branch
Email: bard@sl.iae.nsk.su
Russian Federation, ul. Pirogova 2, Novosibirsk, 630090; pr. Akademika Koptyuga 1, Novosibirsk, 630090
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