SLAM using camera and IMU sensors.

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Description

Visual simultaneous localization and mapping (VSLAM) is the problem of using video input to reconstruct the 3D world and the path of the camera in an 'on-line' manner. Since the data is processed in real time, one does not have access to all of the data at once. (Contrast this with structure from motion (SFM), which is usually formulated as an 'off-line' process on all the data seen, and is not time dependent.) A VSLAM solution is useful for mobile robot navigation or as an assistant for humans exploring an unknown environment. This report documents the design and implementation of ... continued below

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20 p.

Creation Information

Rothganger, Fredrick H. & Muguira, Maritza M. January 1, 2007.

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This report is part of the collection entitled: Office of Scientific & Technical Information Technical Reports and was provided by UNT Libraries Government Documents Department to Digital Library, a digital repository hosted by the UNT Libraries. It has been viewed 12 times . More information about this report can be viewed below.

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Description

Visual simultaneous localization and mapping (VSLAM) is the problem of using video input to reconstruct the 3D world and the path of the camera in an 'on-line' manner. Since the data is processed in real time, one does not have access to all of the data at once. (Contrast this with structure from motion (SFM), which is usually formulated as an 'off-line' process on all the data seen, and is not time dependent.) A VSLAM solution is useful for mobile robot navigation or as an assistant for humans exploring an unknown environment. This report documents the design and implementation of a VSLAM system that consists of a small inertial measurement unit (IMU) and camera. The approach is based on a modified Extended Kalman Filter. This research was performed under a Laboratory Directed Research and Development (LDRD) effort.

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20 p.

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  • Report No.: SAND2007-2462
  • Grant Number: AC04-94AL85000
  • DOI: 10.2172/961651 | External Link
  • Office of Scientific & Technical Information Report Number: 961651
  • Archival Resource Key: ark:/67531/metadc928990

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Office of Scientific & Technical Information Technical Reports

Reports, articles and other documents harvested from the Office of Scientific and Technical Information.

Office of Scientific and Technical Information (OSTI) is the Department of Energy (DOE) office that collects, preserves, and disseminates DOE-sponsored research and development (R&D) results that are the outcomes of R&D projects or other funded activities at DOE labs and facilities nationwide and grantees at universities and other institutions.

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Creation Date

  • January 1, 2007

Added to The UNT Digital Library

  • Nov. 13, 2016, 7:26 p.m.

Description Last Updated

  • Dec. 7, 2016, 9:26 p.m.

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Rothganger, Fredrick H. & Muguira, Maritza M. SLAM using camera and IMU sensors., report, January 1, 2007; United States. (digital.library.unt.edu/ark:/67531/metadc928990/: accessed July 19, 2018), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.