Simultaneous Localization and Mapping
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In this paper we present ProSLAM, a lightweight open-source stereo visual SLAM system designed with simplicity in mind. This work stems from the experience gathered by the authors while teaching SLAM and aims at providing a highly modular system that can be easily implemented and understood. Rather...
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The self-localization capability is a crucial component for Unmanned Ground Vehicles (UGV) in farming applications. Approaches based solely on visual cues or on low-cost GPS are easily prone to fail in such scenarios. In this paper, we present a robust and accurate 3D global pose estimation...
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Registering models is an essential building block of many robotic applications. In case of three-dimensional data, the models to be aligned usually consist of point clouds. In this letter, we propose a formalism to represent in a uniform manner scenes consisting of high-level geometric primitives,...
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The ability to build maps is a key functionality for the majority of mobile robots. A central ingredient to most mapping systems is the registration or alignment of the recorded sensor data. In this paper, we present a general methodology for photometric registration that can deal with multiple...