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dc.contributor.authorKiss-Illés, Dániel
dc.contributor.authorBarrado Muxí, Cristina
dc.contributor.authorSalamí San Juan, Esther
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Arquitectura de Computadors
dc.date.accessioned2019-12-02T14:47:01Z
dc.date.available2019-12-02T14:47:01Z
dc.date.issued2019-11-15
dc.identifier.citationKiss-Illés, D.; Barrado, C.; Salamí, E. GPS-SLAM: an augmentation of the ORB-SLAM algorithm. "Sensors", 15 Novembre 2019, vol. 19, núm. 22, p. 1-22.
dc.identifier.issn1424-8220
dc.identifier.urihttp://hdl.handle.net/2117/173401
dc.description.abstractThis work presents Global Positioning System-Simultaneous Localization and Mapping (GPS-SLAM), an augmented version of Oriented FAST (Features from accelerated segment test) and Rotated BRIEF (Binary Robust Independent Elementary Features) feature detector (ORB)-SLAM using GPS and inertial data to make the algorithm capable of dealing with low frame rate datasets. In general, SLAM systems are successful in case of datasets with a high frame rate. This work was motivated by a scarce dataset where ORB-SLAM often loses track because of the lack of continuity. The main work includes the determination of the next frame’s pose based on the GPS and inertial data. The results show that this additional information makes the algorithm more robust. As many large, outdoor unmanned aerial vehicle (UAV) flights save the GPS and inertial measurement unit (IMU) data of the capturing of images, this program gives an option to use the SLAM algorithm successfully even if the dataset has a low frame rate
dc.format.extent22 p.
dc.language.isoeng
dc.publisherMultidisciplinary Digital Publishing Institute (MDPI)
dc.rightsAttribution 3.0 Spain
dc.rights.urihttp://creativecommons.org/licenses/by/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Enginyeria de la telecomunicació
dc.subject.lcshGlobal Positioning System
dc.subject.otherSLAM
dc.subject.otherGPS data
dc.subject.otherinertial
dc.subject.otherUAV
dc.subject.otherscarce dataset
dc.titleGPS-SLAM: an augmentation of the ORB-SLAM algorithm
dc.typeArticle
dc.subject.lemacSistema de posicionament global
dc.contributor.groupUniversitat Politècnica de Catalunya. ICARUS - Intelligent Communications and Avionics for Robust Unmanned Aerial Systems
dc.identifier.doi10.3390/s19224973
dc.description.peerreviewedPeer Reviewed
dc.relation.publisherversionhttps://www.mdpi.com/1424-8220/19/22/4973
dc.rights.accessOpen Access
local.identifier.drac26012201
dc.description.versionPostprint (published version)
local.citation.authorKiss-Illés, D.; Barrado, C.; Salamí, E.
local.citation.publicationNameSensors
local.citation.volume19
local.citation.number22
local.citation.startingPage1
local.citation.endingPage22


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Attribution 3.0 Spain
Except where otherwise noted, content on this work is licensed under a Creative Commons license : Attribution 3.0 Spain