论文信息 - Visual SLAM Based on Phase Correlation and Particle Filters

Visual SLAM Based on Phase Correlation and Particle Filters

This paper deals with design of visual SLAM method, which is based on phase correlation and particle filters. This method can be used for localization of autonomous mobile robots inside of buildings. The method contains two parts. The first one is mapping of environment, where the mobile robot operates. For this purpose was used phase correlation and images stitching method. The second one is localization problem, which was solved by particle filters, where a particles weights re-sampling was realized by phase correlation image processing method as well. Localization uses the map, which was created by phase correlation and stitching method.

Petr Masek | Michal Ruzicka

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