Exploration and Traversable Area Marking for the VisualSLAM

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26230%2F12%3APU98218" target="_blank" >RIV/00216305:26230/12:PU98218 - isvavai.cz</a>

Výsledek na webu

<a href="http://acmbulletin.fiit.stuba.sk/vol4num1/vol4num1.pdf" target="_blank" >http://acmbulletin.fiit.stuba.sk/vol4num1/vol4num1.pdf</a>

DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

Exploration and Traversable Area Marking for the VisualSLAM

Popis výsledku v původním jazyce

This paper deals with the exploration strategy for a robot during exploration and 3D map building in an unknown environment. The mapping algorithm detects the sig- nificant features, finds correspondences in both images, matches them together and computes their 3D coordi- nates. This way the robot incrementally creates a 3D map of its surroundings and it tries to explore as much area as possible. The first part of this paper describes the way of marking the traversable path in the map created so far. Inthe second part the goal point selection and the path planning to this goal point are described. As the map uses points and triangles to represent the shape of the surface, the traversable area marking and the path planning is also done in the map whichis represented in the same way.

Název v anglickém jazyce

Exploration and Traversable Area Marking for the VisualSLAM

Popis výsledku anglicky

This paper deals with the exploration strategy for a robot during exploration and 3D map building in an unknown environment. The mapping algorithm detects the sig- nificant features, finds correspondences in both images, matches them together and computes their 3D coordi- nates. This way the robot incrementally creates a 3D map of its surroundings and it tries to explore as much area as possible. The first part of this paper describes the way of marking the traversable path in the map created so far. Inthe second part the goal point selection and the path planning to this goal point are described. As the map uses points and triangles to represent the shape of the surface, the traversable area marking and the path planning is also done in the map whichis represented in the same way.

Druh

J_x - Nezařazeno - Článek v odborném periodiku (Jimp, Jsc a Jost)

CEP obor

IN - Informatika

OECD FORD obor

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Projekt

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Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2012

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Information Sciences and Technologies Bulletin of the ACM Slovakia

ISSN

1338-1237

e-ISSN

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Svazek periodika

4

Číslo periodika v rámci svazku

1

Stát vydavatele periodika

SK - Slovenská republika

Počet stran výsledku

10

Strana od-do

29-38

Kód UT WoS článku

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EID výsledku v databázi Scopus

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