Computer Science and Information Technologies, Computer Science and Information Technologies 2017

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The new combined method of the generation of a three-dimensional dense map of environment based on history of camera positions and the robot's movements
A V Vokhmintsev, M S Timchenko

Last modified: 2018-02-14


The scientific problem at solving which the present project is directed consists in the development of adaptive methods of generating a three-dimensional combined dense map of the accessible of environment with requied accuracy of reconstruction and determining a position of a robot in a relative coordinate system. In this paper a new fusion algorithm combining visual features and depth information for loop-closure detection followed by pose optimization to build global consistent maps is proposed. The performance of the proposed system in real indoor environments is presented and discussed.


three-dimensional dense map; camera positions and the robot's movements


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