{"id":8810,"date":"2014-05-31T15:00:39","date_gmt":"2014-05-31T06:00:39","guid":{"rendered":"http:\/\/jsapt.net\/ja\/?p=8810"},"modified":"2018-01-04T08:12:28","modified_gmt":"2018-01-03T23:12:28","slug":"17040501","status":"publish","type":"post","link":"https:\/\/jsapt.net\/ja\/post\/17040501","title":{"rendered":"An Efficient Ceiling-view SLAM Using Relational Constraints Between Landmarks"},"content":{"rendered":"<p><a href=\"https:\/\/jsapt.net\/ja\/?s=Hyukdoo Choi\">Hyukdoo Choi<\/a>\uff0c<a href=\"https:\/\/jsapt.net\/ja\/?s=Ryunseok Kim\">Ryunseok Kim<\/a>\uff0c<a href=\"https:\/\/jsapt.net\/ja\/?s=Euntai Kim\">Euntai Kim<\/a><br \/>\n[ Link to hopen.com ] <\/p>\n<p style=\"padding: 0 20px; text-align: justify;\">Abstract - In this paper, we present a new indoor \u2018simultaneous localization and mapping\u2019 (SLAM) technique based on an upward-looking ceiling camera. Adapted from our previous work, the proposed method employs sparsely-distributed line and point landmarks in an indoor environment to aid with data association and reduce extended Kalman filter computation as compared with earlier techniques. Further, the proposed method exploits geometric relationships between the two types of landmarks to provide added information about the environment. This geometric information is measured with an upward-looking ceiling camera and is used as a constraint in Kalman filtering. The performance of the proposed ceiling-view (CV) SLAM is demonstrated through simulations and experiments. The proposed method performs localization and mapping more accurately than those methods that use the two types of landmarks without taking into account their relative geometries.<\/p>\n<p><a href=\"http:\/\/cdn.intechopen.com\/pdfs\/46118.pdf\"><\/a><\/p>\n\n<div class=\"wp-block-button\">\n<a  data-e-Disable-Page-Transition=\"true\" class=\"dlm-download-link dlm-download-button wp-block-button__link wp-element-button\" title=\"\u30d0\u30fc\u30b8\u30e7\u30f3 1\" href=\"https:\/\/jsapt.net\/ja\/download\/8808\/?tmstv=1791167460\" rel=\"nofollow\" id=\"download-link-8808\" data-redirect=\"false\" >\n\t&ldquo;An Efficient Ceiling-view SLAM Using Relational Constraints Between Landmarks&rdquo; \u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\t<span class=\"dlm-button-meta\">46118.pdf\t\t&ndash; 787 \u56de\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\t\t&ndash; 1.10 MB<\/span>\n<\/a>\n<\/div>\n\n","protected":false},"excerpt":{"rendered":"<p>Hyukdoo Choi\uff0cRyunseok Kim\uff0cEuntai Kim [ Link to hopen.com ] Abstract - In this paper, we present a new indoor \u2018 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"sns_share_botton_hide":"","vkExUnit_sns_title":"","_vk_print_noindex":"","sitemap_hide":"","vkExUnit_EyeCatch_disable":"","_veu_custom_css":"","veu_display_promotion_alert":"","vkexunit_cta_each_option":"","footnotes":""},"categories":[24],"tags":[326],"class_list":["post-8810","post","type-post","status-publish","format-standard","hentry","category-imaging","tag-slam"],"veu_head_title_object":{"title":"","add_site_title":""},"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v28.1 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>An Efficient Ceiling-view SLAM Using Relational Constraints Between Landmarks - \u6e2c\u4f4d\u6280\u8853\u632f\u8208\u4f1a<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/jsapt.net\/ja\/post\/17040501\" \/>\n<meta property=\"og:locale\" content=\"ja_JP\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"An Efficient Ceiling-view SLAM Using Relational Constraints Between Landmarks - 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