Original title: Effects Of Apriory Given Homogenouscoordinates Nullspace Constraintson Slam Convergence
Authors: Klečka, Jan
Document type: Papers
Language: eng
Publisher: 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.
Keywords: apriory gave constraints; maximum likelihood; SLAM
Host item entry: Proceedings of the 23st Conference STUDENT EEICT 2017, ISBN 978-80-214-5496-5

Institution: Brno University of Technology (web)
Document availability information: Fulltext is available in the Brno University of Technology Digital Library.
Original record: http://hdl.handle.net/11012/187145

Permalink: http://www.nusl.cz/ntk/nusl-414805


The record appears in these collections:
Universities and colleges > Public universities > Brno University of Technology
Conference materials > Papers