Algorithm for Simultaneous Localization and Mapping Based on Video Signal Analysis

• Published in: Measurement techniques Vol. 59; no. 10; pp. 1088 - 1093
• Main Authors: Prozorov, A. V., Priorov, A. L., Tyukin, A. L., Lebedev, I. M.
• Format: Journal Article
• Language: English
• Published: New York Springer US 2017; Springer; Springer Nature B.V
• Subjects: Algorithms; Analytical Chemistry; Characterization and Evaluation of Materials; Digital cameras; Estimating; Feature recognition; Image detection; Landmarks; Localization; Mapping; Mathematical models; Measurement Science and Instrumentation; Measurement techniques; Movement; Object recognition; Physical Chemistry; Physics; Physics and Astronomy; Position (location); Probabilistic methods; Probability theory; Robotics; Sensors; Signal analysis; Simultaneous localization and mapping; Television systems; digital image processing; industrial television; computer vision
• ISSN: 0543-1972; 1573-8906
• DOI: 10.1007/s11018-017-1097-3

A set of algorithms for simultaneous localization and mapping in industrial television systems is discussed. A probabilistic model of this problem is described with the FastSLAM algorithm as an example. The possibility of using a sigma-point Kalman filter for estimating the movement of spatial landmarks, a key feature of images characterized by stable detection and recognition within the video stream, is considered. A general model of the camera motion and a method for evaluating its spatial position using a particle filter are presented.