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Informatsionnye Tekhnologii i Vychslitel'nye Sistemy, 2020, Issue 2, Pages 51–61
DOI: https://doi.org/10.14357/20718632200205 (Mi itvs409) 		 
IMAGE PROCESSING METHODS

Vision-based simultaneous localization, mapping and exploration system

A. V. Bokovoyab, K. F. Muravievca, K. S. Yakovleva

a Federal Research Center "Computer Science and Control" of Russian Academy of Sciences, Moscow, Russia
b Peoples' Friendship University of Russian (RUDN University), Moscow, Russia
c Moscow Institute of Physics and Technology, Dolgoprudny, Russia
Full-text PDF (970 kB)
DOI: https://doi.org/10.14357/20718632200205
Abstract: In this work we consider the problem of robotic system navigation in unknown environment, with restriction on the onboard sensor’s array (monocular camera only). We introduce software system for simultaneous localization, mapping and exploration. A description of the system’s architecture as well as of its core modules is presented. The system was evaluated both in simulation and on a real wheeled robot. The results of this evaluation are given.
Keywords: simultaneous localization and mapping, video stream, exploration, unknown environment, robotics.
Funding agency Grant number
Ministry of Education and Science of the Russian Federation
Russian Foundation for Basic Research 17-29-07053
18-37-20032
Document Type: Article
Language: Russian
Citation: A. V. Bokovoy, K. F. Muraviev, K. S. Yakovlev, “Vision-based simultaneous localization, mapping and exploration system”, Informatsionnye Tekhnologii i Vychslitel'nye Sistemy, 2020, no. 2, 51–61
Citation in format AMSBIB
\Bibitem{BokMurYak20}
\by A.~V.~Bokovoy, K.~F.~Muraviev, K.~S.~Yakovlev
\paper Vision-based simultaneous localization, mapping and exploration system
\jour Informatsionnye Tekhnologii i Vychslitel'nye Sistemy
\yr 2020
\issue 2
\pages 51--61
\mathnet{http://mi.mathnet.ru/itvs409}
\crossref{https://doi.org/10.14357/20718632200205}
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