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Integrated multi-sensor fusion and SLAM for mobile robots

: Emter, Thomas

Postprint urn:nbn:de:0011-n-2124333 (14 MByte PDF)
MD5 Fingerprint: 97597ccdc8f996104f339dcdff65fd67
Erstellt am: 30.8.2012

Beyerer, Jürgen (Hrsg.); Pak, Alexey (Hrsg.) ; Fraunhofer-Institut für Optronik, Systemtechnik und Bildauswertung -IOSB-, Karlsruhe; Karlsruhe Institute of Technology -KIT-, Lehrstuhl für Interaktive Echtzeitsysteme -IES-:
Joint Workshop of Fraunhofer IOSB and Institute for Anthropomatics, Vision and Fusion Laboratory 2011. Proceedings : Triberg-Nussbach, Germany. From July, 17 to July, 22
Karlsruhe: KIT Scientific Publishing, 2012 (Karlsruher Schriften zur Anthropomatik 11)
ISBN: 978-3-86644-855-1
Fraunhofer Institute of Optronics, System Technologies and Image Exploitation and Institute for Anthropomatics, Vision and Fusion Laboratory (Joint Workshop) <2011, Triberg-Nussbach>
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IOSB ()

To perform simultaneous localization and mapping (SLAM) mobile robots are equipped with several sensors. In order to precisely localize the robot while concurrently building a map of the environment, the information from all sensors has to be fused adequately. A flexible framework for integrated multi-sensor fusion and mapping, which is capable of combining different sensor configurations for diverse environments, is presented in this paper.