dc.contributor
Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.contributor
Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents
dc.contributor.author
Guerra Paradas, Edmundo
dc.contributor.author
Munguía Alcalá, Rodrigo Francisco
dc.contributor.author
Bolea Monte, Yolanda
dc.contributor.author
Grau Saldes, Antoni
dc.identifier
Guerra Paradas, E. [et al.]. Validation of Data Association for Monocular SLAM. "Mathematical problems in engineering", Maig 2013, vol. 2013, p. 1-11.
dc.identifier
https://hdl.handle.net/2117/19225
dc.identifier
10.1155/2013/671376
dc.description.abstract
SimultaneousMapping and Localization (SLAM) is amultidisciplinary problem with ramifications within several fields. One of the
key aspects for its popularity and success is the data fusion produced by SLAM techniques, providing strong and robust sensory
systems even with simple devices, such as webcams in Monocular SLAM. This work studies a novel batch validation algorithm,
the highest order hypothesis compatibility test (HOHCT), against one of the most popular approaches, the JCCB. The HOHCT
approach has been developed as a way to improve performance of the delayed inverse-depth initialization monocular SLAM, a
previously developed monocular SLAM algorithm based on parallax estimation. Both HOHCT and JCCB are extensively tested
and compared within a delayed inverse-depth initialization monocular SLAM framework, showing the strengths and costs of this
proposal.
dc.description.abstract
Postprint (published version)
dc.format
application/pdf
dc.relation
http://www.hindawi.com/journals/mpe/2013/671376/
dc.rights
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.rights
Attribution-NonCommercial-NoDerivs 3.0 Spain
dc.subject
Àrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject
Robots Control systems
dc.subject
Robots -- Sistemes de control
dc.title
Validation of Data Association for Monocular SLAM
