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dc.contributor.authorGuerra Paradas, Edmundo
dc.contributor.authorMunguía Alcalá, Rodrigo Francisco
dc.contributor.authorBolea Monte, Yolanda
dc.contributor.authorGrau Saldes, Antoni
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.date.accessioned2013-06-30T10:42:17Z
dc.date.created2013-05-27
dc.date.issued2013-05-27
dc.identifier.citationGuerra, E. [et al.]. Batch gating for data association in monocular SLAM. "Applied mechanics and materials", 27 Maig 2013, vol. 319, p. 295-301.
dc.identifier.issn1660-9336
dc.identifier.urihttp://hdl.handle.net/2117/19731
dc.description.abstractThis work describes the development and implementation of a single-camera SLAM system, introducing a novel data validation algorithm. A 6-DOF monocular SLAM method developed is based on the Delayed Inverse-Depth (DI-D) Feature Initialization, with the addition of a new data association batch validation technique, the Highest Order Hypothesis Compatibility Test, HOHCT. The DI-D initializes new features in the system defining single hypothesis for the initial depth of features by stochastic triangulation. The HOHCT is based on evaluation of statistically compatible hypotheses, and search algorithm designed to exploit the Delayed Inverse-Depth technique characteristics. Experiments with real data are presented in order to validate the performance of the system.
dc.format.extent7 p.
dc.language.isoeng
dc.publisherTrans Tech Publications
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshRobots -- Control systems
dc.subject.otherMonocular SLAM
dc.subject.otherrobotics
dc.subject.otheronly-bearing sensor
dc.subject.othercomputer science
dc.titleBatch gating for data association in monocular SLAM
dc.typeArticle
dc.subject.lemacRobots -- Sistemes de control
dc.contributor.groupUniversitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents
dc.identifier.doi10.4028/www.scientific.net/AMM.319.295
dc.rights.accessRestricted access - publisher's policy
local.identifier.drac12479013
dc.description.versionPostprint (published version)
dc.date.lift10000-01-01
local.citation.authorGuerra, E.; Munguía , R.; Bolea, Y.; Grau, A.
local.citation.publicationNameApplied mechanics and materials
local.citation.volume319
local.citation.startingPage295
local.citation.endingPage301


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