ASLAM Final Report

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Authors
  1. Se, S.
Corporate Authors
Defence R&D Canada - Suffield, Ralston ALTA (CAN);MacDonald Dettwiler and Associates Ltd, Richmond BC (CAN)
Abstract
The objective of the Appearance-based Simultaneous Localization And Mapping (ASLAM) project is the research and development of an Appearance-Based Simultaneous Localization and Mapping system for day/night operations in indoor and outdoor environments. These algorithms would perform place recognition based on sensor data gathered from an Unmanned Ground Vehicle (UGV) as it travels through the environment. When the vehicle returns to a previously visited scene, the ASLAM algorithm would recognize the scene, update its internal representation, report this to the UGV, and finally provide information to aid in closing the loop with geometric Simultaneous Localization And Mapping (SLAM). This final report describes the work done in this project, including the components of the developed system and the results from the various field trials.

Il y a un résumé en français ici.

Keywords
ASLAM;UGV;Appearance-based Simultaneous Localization And Mapping;Unmanned Group Vehicle;Mapping system
Report Number
DRDC-SUFFIELD-CR-2013-071 — Contract Report
Date of publication
01 Mar 2013
Number of Pages
62
DSTKIM No
CA045998
CANDIS No
806468
Format(s):
Electronic Document(PDF)

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