Novosibirsk State University Journal of Information Technologies
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ISSN 2410-0420 (Online), ISSN 1818-7900 (Print)

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Development of simultaneous localization and mapping system based on lidar and cameras data
Denis Aleksandrovich Baramiya, Mikhail Stanislavovich Dyakov, Mikhail Mikhailovich Lavrentyev

Novosibirsk State University
SoftLab-NSK Co. Ltd
Institute of Automation and Electrometry SB RAS

UDC code: 004.93 + 004.896

In this article the developed simultaneous localization and mapping systemis considered. Methods for localization by visual markers, prediction of the position in the absence of an odometer, loop closing have been suggested to improve accuracy of positioning. Testing results of the developed system are presented as well.

Key Words
simultaneous localization and mapping, loop closing, visual markers, particle filter, SLAM

How to cite:
Baramiya D. A., Dyakov M. S., Lavrentyev M. M. Development of simultaneous localization and mapping system based on lidar and cameras data // Vestnik NSU Series: Information Technologies. - 2015. - Volume 13, Issue No 1. - P. 5-15. - ISSN 1818-7900. (in Russian).

Full Text in Russian

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Publication information
Main title Vestnik NSU Series: Information Technologies, Volume 13, Issue No 1 (2015).
Parallel title: Novosibirsk State University Journal of Information Technologies Volume 13, Issue No 1 (2015).

Key title: Vestnik Novosibirskogo gosudarstvennogo universiteta. Seriâ: Informacionnye tehnologii
Abbreviated key title: Vestn. Novosib. Gos. Univ., Ser.: Inf. Tehnol.
Variant title: Vestnik NGU. Seriâ: Informacionnye tehnologii

Year of Publication: 2015
ISSN: 1818-7900 (Print), ISSN 2410-0420 (Online)
Publisher: Novosibirsk State University Press
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