Robot mapping algorithm based on Kalman filtering and symbolic tags

摘要

A new method will be developed in the present work of the detection of a robot's position in a relative coordinate system based on a history of camera positions and the robot's movement, symbolic tags and on combining obtained three-dimensional depth maps that account for accuracy of their superimposition and geometric relationships between various images of the same scene. It is expected that this approach will enable one to develop a fast and accurate algorithm for localization in unknown dynamic environment.