Absolute Localization and Mapping of Aerial Manipulators

Autor:	J.L. Paneque, J.R. Martinez-de Dios, M. Polvillo
Rok vydání:	2019
Předmět:	Computer science business.industry ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION Simultaneous localization and mapping Beacon Computer Science::Robotics Range (mathematics) Lidar Robot Computer vision Artificial intelligence business Pose Stereo camera
Zdroj:	Springer Tracts in Advanced Robotics ISBN: 9783030129446 Aerial Robotic Manipulation
Popis:	This chapter explains a multi-sensor SLAM (Simultaneous localization and Mapping), which creates an accurate 3D map for localization in aerial manipulation environments that are complex, dynamic and unstructured. This technique builds a multi-sensor map that contains measurements from different multi-modal sensors in the same geometrical framework, exploiting the synergies between different onboard sensors: 3D LIDAR; stereo camera; and range measurement beacons. The second part of this chapter explains a technique to provide real-time 6-DoF robot pose estimation using a MCL-based scheme that receives as input the measurements from all available on-board sensors of the aerial robot, and an enriched map built off-line, and uses this map for on-line 6-DoF localization.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::17d48106b4ba7d37f1ab418cee2189c1 https://doi.org/10.1007/978-3-030-12945-3_16 Zobrazit plný text záznamu