Статья

Махмуд Ж. (науч. рук. Колюбин С.А.) Real-Time Optimization Of Pose Estimation using SLAM for Mobile Robots
УДК тезиса: 004.896 + 004.93'11 + 519.612

This article states an algorithm for performing optimization of the estimated pose of a mobile robot (Localization). The optimization runs in real-time, and it includes also the optimization of the Mapping process in SLAM, by availing the sparsity of the linearized system and applying the Schur complement trick with Cholesky Decomposition.

Авторы:

Махмуд Жаафар

Руководитель:

Колюбин Сергей Алексеевич

Махмуд Ж. (науч. рук. Колюбин С.А.) Real-Time Optimization Of Pose Estimation using SLAM for Mobile Robots // Сборник тезисов докладов конгресса молодых ученых. Электронное издание. – СПб: Университет ИТМО, [2020]. URL: https://kmu.itmo.ru/digests/article/4541