КФУ. Карточка публикации. Comparative analysis of ros-based centralized methods for conducting collaborative monocular visual slam using a pair of uavs

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COMPARATIVE ANALYSIS OF ROS-BASED CENTRALIZED METHODS FOR CONDUCTING COLLABORATIVE MONOCULAR VISUAL SLAM USING A PAIR OF UAVS

Форма представления

Статьи в зарубежных журналах и сборниках

Год публикации

2020

Авторы, сотрудники КФУ

Аббясов Булат Ривалевич, автор

Закиев Ауфар Азатович, автор

Авторы, аспиранты КФУ

Цой Татьяна Григорьевна, автор

Библиографическое описание на языке оригинала

Abbyasov B, Lavrenov R, Zakiev A, Comparative analysis of ros-based centralized methods for conducting collaborative monocular visual slam using a pair of uavs//Robots in Human Life- Proceedings of the 23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2020. - 2020. - Vol., Is.. - P.113-120.

Аннотация

Robots in Human Life- Proceedings of the 23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2020

Ключевые слова

UAV, visual SLAM, ROS, Gazebo simulation, algorithm comparison

Название журнала

Robots in Human Life- Proceedings of the 23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2020

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https://repository.kpfu.ru/?p_id=246279

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	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, Comparative analysis of ros-based centralized methods for conducting collaborative monocular visual slam using a pair of uavs//Robots in Human Life- Proceedings of the 23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2020. - 2020. - Vol., Is.. - P.113-120.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/?p_id=246279	ru_RU
dc.description.abstract	Robots in Human Life- Proceedings of the 23rd International Conference on Climbing and Walking Robots and the 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	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	Статьи в зарубежных журналах и сборниках	ru_RU