Effects Of Apriory Given Homogenouscoordinates Nullspace Constraintson Slam Convergence
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2017
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Vysoké učení technické v Brně, Fakulta elektrotechniky a komunikačních technologií
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.
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Proceedings of the 23st Conference STUDENT EEICT 2017. s. 456-460. ISBN 978-80-214-5496-5
http://www.feec.vutbr.cz/EEICT/
http://www.feec.vutbr.cz/EEICT/
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Peer-reviewed
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en
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© Vysoké učení technické v Brně, Fakulta elektrotechniky a komunikačních technologií