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[HTML][HTML] A review of multi-sensor fusion slam systems based on 3D LIDAR
X Xu, L Zhang, J Yang, C Cao, W Wang, Y Ran, Z Tan… - Remote Sensing, 2022 - mdpi.com
The ability of intelligent unmanned platforms to achieve autonomous navigation and
positioning in a large-scale environment has become increasingly demanding, in which …
positioning in a large-scale environment has become increasingly demanding, in which …
Factor graphs for robot perception
F Dellaert, M Kaess - Foundations and Trends® in Robotics, 2017 - nowpublishers.com
We review the use of factor graphs for the modeling and solving of large-scale inference
problems in robotics. Factor graphs are a family of probabilistic graphical models, other …
problems in robotics. Factor graphs are a family of probabilistic graphical models, other …
A micro lie theory for state estimation in robotics
J Sola, J Deray, D Atchuthan - ar** (SLAM) for construction robotics applications
A Yarovoi, YK Cho - Automation in Construction, 2024 - Elsevier
With the increasing affordability of robot technologies and the reduction in size and weight of
autonomous systems, the deployment of autonomous robotic systems on construction sites …
autonomous systems, the deployment of autonomous robotic systems on construction sites …
iSAM2: Incremental smoothing and map** using the Bayes tree
M Kaess, H Johannsson, R Roberts… - … Journal of Robotics …, 2012 - journals.sagepub.com
We present a novel data structure, the Bayes tree, that provides an algorithmic foundation
enabling a better understanding of existing graphical model inference algorithms and their …
enabling a better understanding of existing graphical model inference algorithms and their …
Visual-inertial-aided navigation for high-dynamic motion in built environments without initial conditions
T Lupton, S Sukkarieh - IEEE Transactions on Robotics, 2011 - ieeexplore.ieee.org
In this paper, we present a novel method to fuse observations from an inertial measurement
unit (IMU) and visual sensors, such that initial conditions of the inertial integration, including …
unit (IMU) and visual sensors, such that initial conditions of the inertial integration, including …
Switchable constraints for robust pose graph SLAM
N Sünderhauf, P Protzel - 2012 IEEE/RSJ International …, 2012 - ieeexplore.ieee.org
Current SLAM back-ends are based on least squares optimization and thus are not robust
against outliers like data association errors and false positive loop closure detections. Our …
against outliers like data association errors and false positive loop closure detections. Our …
Stereo visual inertial lidar simultaneous localization and map**
W Shao, S Vijayarangan, C Li… - 2019 IEEE/RSJ …, 2019 - ieeexplore.ieee.org
Simultaneous Localization and Map** (SLAM) is a fundamental task to mobile and aerial
robotics. LiDAR based systems have proven to be superior compared to vision based …
robotics. LiDAR based systems have proven to be superior compared to vision based …