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All Journal IAES International Journal of Robotics and Automation (IJRA)
Karel Horák
Brno University of Technology
Automotive Engineering Electrical & Electronics Engineering

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General concepts of multi-sensor data-fusion based SLAM Jan Klečka; Karel Horák; Ondřej Boštík
IAES International Journal of Robotics and Automation (IJRA) Vol 9, No 2: June 2020
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (236.912 KB) | DOI: 10.11591/ijra.v9i2.pp63-72

Abstract

This paper is approaching a problem of Simultaneous Localization and Mapping (SLAM) algorithms focused specifically on processing of data from a heterogeneous set of sensors concurrently. Sensors are considered to be different in a sense of measured physical quantity and so the problem of effective data-fusion is discussed. A special extension of the standard probabilistic approach to SLAM algorithms is presented. This extension is composed of two parts. Firstly is presented general perspective multiple-sensors based SLAM and then thee archetypical special cases are discuses. One archetype provisionally designated as "partially collective mapping" has been analyzed also in a practical perspective because it implies a promising options for implicit map-level data-fusion.
Co-Authors Jan Klečka Ondřej Boštík