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dc.contributor.authorCaldato, Brenno A. C. [UNESP]
dc.contributor.authorAchilles Filho, Ricardo [UNESP]
dc.contributor.authorCastanho, Jose Eduardo C. [UNESP]
dc.contributor.authorTodt, E.
dc.contributor.authorTonidandel, F.
dc.date.accessioned2018-11-26T17:48:34Z
dc.date.available2018-11-26T17:48:34Z
dc.date.issued2017-01-01
dc.identifier.citation2017 Latin American Robotics Symposium (lars) And 2017 Brazilian Symposium On Robotics (sbr). New York: Ieee, 5 p., 2017.
dc.identifier.urihttp://hdl.handle.net/11449/163959
dc.description.abstractORB-SLAM2 is one of the better-known open source SLAM implementations available. However, the dependence of visual features causes it to fail in featureless environments. With the present work, we propose a new technique to improve visual odometry results given by ORB-SLAM2 using a tightly Sensor Fusion approach to integrate camera and odometer data. In this work, we use odometer readings to improve the tracking results by adding graph constraints between frames and introduce a new method for preventing the tracking loss. We test our method using three different datasets, and show an improvement in the estimated trajectory, allowing a continuous tracking without losses.en
dc.description.sponsorshipFundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)
dc.description.sponsorshipFINEP
dc.format.extent5
dc.language.isoeng
dc.publisherIeee
dc.relation.ispartof2017 Latin American Robotics Symposium (lars) And 2017 Brazilian Symposium On Robotics (sbr)
dc.sourceWeb of Science
dc.titleORB-ODOM: Stereo and Odometer Sensor Fusion for Simultaneous Localization and Mappingen
dc.typeTrabalho apresentado em evento
dcterms.licensehttp://www.ieee.org/publications_standards/publications/rights/rights_policies.html
dcterms.rightsHolderIeee
dc.contributor.institutionUniversidade Estadual Paulista (UNESP)
dc.description.affiliationSao Paulo State Univ Unesp, Sch Engn, Dept Elect Engn, Bauru, Brazil
dc.description.affiliationUnespSao Paulo State Univ Unesp, Sch Engn, Dept Elect Engn, Bauru, Brazil
dc.identifier.wosWOS:000426897500033
dc.rights.accessRightsAcesso aberto
dc.description.sponsorshipIdFAPESP: 2010/50650-3
dc.description.sponsorshipIdFINEP: 01.10.0787.00
dc.description.sponsorshipIdFINEP: 0904/10
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