The Algorithm of EKF-SLAM Using Laser Scanning System and Fisheye Camera

被引：0
作者：
Kokovkina, V. A. [1 ]
Antipov, V. A. [1 ]
Kirnos, V. P. [1 ]
Priorov, A. L. [1 ]
机构：
[1] Demidov Yaroslavl State Univ, Yaroslavl, Russia
来源：
2019 SYSTEMS OF SIGNAL SYNCHRONIZATION, GENERATING AND PROCESSING IN TELECOMMUNICATIONS (SYNCHROINFO) | 2019年
关键词：
simultaneous localization and mapping; extended Kalman filter; 3D point cloud; fisheye camera; LIDAR; odometry;
D O I：
10.1109/synchroinfo.2019.8813985
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
this article describes an algorithm, which builds a three-dimensional map of space according to data of the laser scanning system and the fish eye camera. The algorithm is an integral part of the SLAM algorithm using an extended Kalman filter, which is implemented on a mobile robotic platform, modeled in the ROS environment. The results of the researches of this system in the modeling environment of gazebo are also presented.
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页数：6
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