Publication
Relative localization for aerial manipulation with PL-SLAM
Book Chapter (2019)
Book Title
Aerial Robotic Manipulation. Vol 129 of Springer Tracts in Advanced Robotics
Publisher
Springer
Pages
239-248
Volume
129
Serie
Springer Tracts in Advanced Robotics
Doc link
https://doi.org/10.1007/978-3-030-12945-3_17
File
Abstract
This chapter explains a precise SLAM technique, PL-SLAM, that allows to simultaneously process points and lines and tackle situations where point-only based methods are prone to fail, like poorly textured scenes or motion blurred images where feature points are vanished out. The method is remarkably robust against image noise, and that it outperforms state-of-the-art methods for point based contour alignment. The method can run in real-time and in a low cost hardware.
Categories
robots.
Scientific reference
A. Pumarola, A. Vakhitov, A. Agudo, F. Moreno-Noguer and A. Sanfeliu. Relative localization for aerial manipulation with PL-SLAM. In Aerial Robotic Manipulation. Vol 129 of Springer Tracts in Advanced Robotics, 239-248. Springer, 2019.
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