Улучшение алгоритмов исследования неизвестной местности для навигации с помощью визуального картирования и локализации

Авторы

Яковлев К. С. Боковой А. В. Муравьев К. Ф.

Аннотация

Exploration is an important step in autonomous navigation of robotic systems. In this paper we introduce a series of enhancements for exploration algorithms in order to use them with vision-based simultaneous localization and mapping (vSLAM) methods. We evaluate developed approaches in photo-realistic simulator in two modes: with ground-truth depths and neural network reconstructed depth maps as vSLAM input. We evaluate standard metrics in order to estimate exploration coverage.

Внешние ссылки

DOI: 10.1007/978-3-030-86855-0_14

PDF на arXiv.org (англ.): https://arxiv.org/pdf/2110.09156

Microsoft Academic: https://academic.microsoft.com/paper/3203516484/

ResearchGate: https://www.researchgate.net/publication/355051573_Enhancing_Exploration_Algorithms_for_Navigation_with_Visual_SLAM

Semantic Scholar: https://api.semanticscholar.org/CorpusID:238417375

Ссылка при цитировании

Muravyev K., Bokovoy A., Yakovlev K. (2021) Enhancing Exploration Algorithms for Navigation with Visual SLAM. In: Kovalev S.M., Kuznetsov S.O., Panov A.I. (eds) Artificial Intelligence. RCAI 2021. Lecture Notes in Computer Science, vol 12948. Springer, Cham. Pages 197-212