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Robust Mobile-Robot Localization for Indoor SLAM
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 Title & Authors
Robust Mobile-Robot Localization for Indoor SLAM
Mo, Se-Hyun; Yu, Dong-Hyun; Park, Jong-Ho; Chong, Kil-To;
This paper presents the results of a study for robust self-localization and indoor slam using external cameras (such as a CCTV) and odometry of mobile robot. First, a position of mobile robot was estimated by using maker and odometry. This data was then fused with camera data and odometry data using an extended kalman filter. Finally, indoor slam was realized by applying the proposed method. This was demonstrated in the actual experiment.
vision system;mobile robot;localization;mapping;SLAM;
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