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Systems and methods for adding landmarks for visual simultaneous localization and mapping
Systems and methods for adding landmarks for visual simultaneous localization and mapping
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机译:用于为视觉同时定位和制图添加界标的系统和方法
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摘要
The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. One embodiment further uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. One embodiment maintains the particles, thereby permitting the SLAM processes to be performed in software using microprocessor-based computer systems.
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