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2020 International Conference on Computing and Data Science (CDS) - The Research of RBPF-SLAM Accuracy under the Influence of Depth Camera Noises by Zhang, Shucheng is a scholarly article available to read on EtoBox.

What is 2020 International Conference on Computing and Data Science (CDS) - The Research of RBPF-SLAM Accuracy under the Influence of Depth Camera Noises about?

In order to study the influence of random noises of ToF depth camera on the pose estimation of mobile robot based on improved RBPF-SLAM algorithm, the basic principles and processes of improved RBPF-SLAM algorithm were described in this paper. Secondly, we analyzed and established the Gaussian model of random noises of ToF depth camera. Finally, through the computer simulation method, we used the ROS robot operating system to estimate the trajectory of mobile robot under depth camera noises. The RMS errors of mobile robot trajectory were calculated. The research method and simulation results in this paper can be referenced for the design of mobile robot SLAM system.

Author

Zhang, Shucheng

Publisher

IEEE

Published

2020

Language

EN