计算机工程与应用Issue(7)：35-39,60,6.DOI:10.3778/j.issn.1002-8331.1304-0079
多视角几何Rao-Blackwellised SLAM算法
SLAM method with multiple vision geometric and Rao-Blackwellised particle filtering
摘要
Abstract
Low price sensor and high precise localization is a hot research issue. In this paper, only single camera is used to catch multiple images. The relation between images is gotten by factorization method. From the multiple geometric calculating, the deep on the environments is gotten. The robot simultaneous localization and mapping is performed iteratively by the Rao-Blackwellisated filter. The observation model is approximated with first-order Taylor. The experiments are performed with MT-R robot plant. The results show that the localization precise of robot with only single camera is more than the classic method.关键词
多视角几何/单目视觉/Rao-Blackwellised粒子滤波/SLAM算法Key words
multiple vision geometric/single camera/Rao-Blackwellised particle filtering/SLAM algorithm分类
信息技术与安全科学引用本文复制引用
弋英民,黄莹..多视角几何Rao-Blackwellised SLAM算法[J].计算机工程与应用,2015,(7):35-39,60,6.基金项目
国家自然科学基金（No.51275405）；陕西省教育厅自然科学专项（No.2013Jk1078）。 （）
