Sensor Fusion of Monocular Cameras and Laser Rangefinders for Line-Based Simultaneous Localization and Mapping (SLAM) Tasks in Autonomous Mobile Robots

Sensor Fusion of Monocular Cameras and Laser Rangefinders for Line-Based Simultaneous Localization and Mapping (SLAM) Tasks in Autonomous Mobile Robots

This paper presents a sensor fusion strategy applied for Simultaneous Localization and Mapping (SLAM) in dynamic environments. The designed approach consists of two features: (i) the first one is a fusion module which synthesizes line segments obtained from laser rangefinder and line features extrac...

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Bibliographic Details
Main Authors: Xinzheng Zhang, Ahmad B. Rad, Yiu-Kwong Wong
Format: Article
Language:English
Published: MDPI AG 2012-01-01
Series:Sensors
Subjects:
feature fusion
multi-sensor point estimation fusion (MPEF)
homography transform matrix
SLAM
Online Access:http://www.mdpi.com/1424-8220/12/1/429/

Internet

http://www.mdpi.com/1424-8220/12/1/429/

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