| Форма представления | Тезисы и материалы конференций в зарубежных журналах и сборниках |
| Год публикации | 2020 |
| Язык | английский |
|
Аббясов Булат Ривалевич, автор
Закиев Ауфар Азатович, автор
Лавренов Роман Олегович, автор
Магид Евгений Аркадьевич, автор
Цой Татьяна Григорьевна, автор
|
| Библиографическое описание на языке оригинала |
Abbyasov B., Lavrenov R., Zakiev A., Tsoy T., Magid E., Svinin M., Martinez-Garcia E.A. Comparative analysis of ROS-based centralized methods for conducting collaborative monocular visual SLAM using a pair of UAVs // Proceedings of the 23rd International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2020) (Moscow, Russia; 24-26 August 2020) - p. 113-120. |
| Аннотация |
Proceedings of the 23rd International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2020) |
| Ключевые слова |
UAV, visual SLAM, ROS, Gazebo simulation, algorithm comparison |
| Название журнала |
Proceedings of the 23rd International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2020)
|
| URL |
https://www.scopus.com/inward/record.uri?eid=2-s2.0-85091319478&doi=10.13180%2fclawar.2020.24-26.08.12&partnerID=40&md5=01beb6c438e64b8477857bfd3ade5080 |
| Пожалуйста, используйте этот идентификатор, чтобы цитировать или ссылаться на эту карточку |
https://repository.kpfu.ru/?p_id=240256 |
| Файлы ресурса | |
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Полная запись метаданных  |
| Поле DC |
Значение |
Язык |
| dc.contributor.author |
Аббясов Булат Ривалевич |
ru_RU |
| dc.contributor.author |
Закиев Ауфар Азатович |
ru_RU |
| dc.contributor.author |
Лавренов Роман Олегович |
ru_RU |
| dc.contributor.author |
Магид Евгений Аркадьевич |
ru_RU |
| dc.contributor.author |
Цой Татьяна Григорьевна |
ru_RU |
| dc.date.accessioned |
2020-01-01T00:00:00Z |
ru_RU |
| dc.date.available |
2020-01-01T00:00:00Z |
ru_RU |
| dc.date.issued |
2020 |
ru_RU |
| dc.identifier.citation |
Abbyasov B., Lavrenov R., Zakiev A., Tsoy T., Magid E., Svinin M., Martinez-Garcia E.A. Comparative analysis of ROS-based centralized methods for conducting collaborative monocular visual SLAM using a pair of UAVs // Proceedings of the 23rd International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2020) (Moscow, Russia; 24-26 August 2020) - p. 113-120. |
ru_RU |
| dc.identifier.uri |
https://repository.kpfu.ru/?p_id=240256 |
ru_RU |
| dc.description.abstract |
Proceedings of the 23rd International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2020) |
ru_RU |
| dc.description.abstract |
Unmanned Aerial Vehicle (UAV) is a flying robot that acts without a constant human pilot involvement. UAVs are applied in military and civilian areas, in search and rescue operations, 3D mapping, simultaneous localization and mapping (SLAM) and other tasks. SLAM approaches are based on various sensors usage including lidars and cameras. Visual SLAM approaches rely on visual sensing systems and successfully operate within GPS-denied environments. Further, applying several UAVs allows for complex tasks that cannot be handled by a single robot, minimizes exploration time and adds a security level for a case of a single robot failure. This paper presents a comparison of two most applicable vision-based collaborative monocular SLAM methods in Robot operating system, CORB-SLAM and CCM-SLAM, that run on a pair of UAVs. The evaluation is performed on preassembled datasets that correspond to a virtual environment in the Gazebo simulator. The error estimation in virtual experiments demonstrated that CCM-SLAM has a higher global localization accuracy than CORB-SLAM. |
ru_RU |
| dc.language.iso |
ru |
ru_RU |
| dc.subject |
UAV |
ru_RU |
| dc.subject |
visual SLAM |
ru_RU |
| dc.subject |
ROS |
ru_RU |
| dc.subject |
Gazebo simulation |
ru_RU |
| dc.subject |
algorithm comparison |
ru_RU |
| dc.title |
Comparative analysis of ros-based centralized methods for conducting collaborative monocular visual slam using a pair of uavs |
ru_RU |
| dc.type |
Тезисы и материалы конференций в зарубежных журналах и сборниках |
ru_RU |
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