Publication detail

Effects of Apriory Given Homogenous Coordinates Nullspace Constraints on SLAM Convergence

KLEČKA, J.

Original Title

Effects of Apriory Given Homogenous Coordinates Nullspace Constraints on SLAM Convergence

English Title

Effects of Apriory Given Homogenous Coordinates Nullspace Constraints on SLAM Convergence

Type

conference paper

Language

en

Original Abstract

The paper aims at the topic of SLAM (Simultaneous Localization and Mapping) algorithms convergence. Standard SLAM algorithms process observations composed of elements which are considered to be independent of each other. Following pages deals with changes that occur on convergence by the apriory assumption that some or all observation elements are bound by some mathematical model. In this case, the considered models are given by nullspace constraints in homogenous coordinates – in other words observed points lies on the same beforehand unknown line or plane. All described experiments are just simulations.

English abstract

The paper aims at the topic of SLAM (Simultaneous Localization and Mapping) algorithms convergence. Standard SLAM algorithms process observations composed of elements which are considered to be independent of each other. Following pages deals with changes that occur on convergence by the apriory assumption that some or all observation elements are bound by some mathematical model. In this case, the considered models are given by nullspace constraints in homogenous coordinates – in other words observed points lies on the same beforehand unknown line or plane. All described experiments are just simulations.

Keywords

SLAM, maximum likelihood, apriory gave constraints

Released

27.04.2017

Publisher

Vysoké učení technické v Brně, Fakulta elektrotechniky a komunikačních

Location

Brno

ISBN

978-80-214-5496-5

Book

Proceedings of the 23nd Conference STUDENT EEICT 2017

Edition number

první

Pages from

456

Pages to

460

Pages count

707

Documents

BibTex


@inproceedings{BUT135171,
  author="Jan {Klečka}",
  title="Effects of Apriory Given Homogenous Coordinates Nullspace Constraints on SLAM Convergence",
  annote="The paper aims at the topic of SLAM (Simultaneous Localization and Mapping) algorithms convergence. Standard SLAM algorithms process observations composed of elements which are considered to be independent of each other. Following pages deals with changes that occur on convergence by the apriory assumption that some or all observation elements are bound by some mathematical model. In this case, the considered models are given by nullspace constraints in homogenous coordinates – in other words observed points lies on the same beforehand unknown line or plane. All described experiments are just simulations.",
  address="Vysoké učení technické v Brně, Fakulta elektrotechniky a komunikačních",
  booktitle="Proceedings of the 23nd Conference STUDENT EEICT 2017",
  chapter="135171",
  howpublished="electronic, physical medium",
  institution="Vysoké učení technické v Brně, Fakulta elektrotechniky a komunikačních",
  year="2017",
  month="april",
  pages="456--460",
  publisher="Vysoké učení technické v Brně, Fakulta elektrotechniky a komunikačních",
  type="conference paper"
}