Open Access
Lecture Notes in Computer Science, volume 12948 LNAI, pages 197-212
Enhancing Exploration Algorithms for Navigation with Visual SLAM
Publication type: Book Chapter
Publication date: 2021-10-04
Journal:
Lecture Notes in Computer Science
Quartile SCImago
Q3
Quartile WOS
—
Impact factor: —
ISSN: 03029743, 16113349, 18612075, 18612083
Abstract
Exploration is an important step in autonomous navigation of robotic systems. In this paper we introduce a series of enhancements for exploration algorithms in order to use them with vision-based simultaneous localization and mapping (vSLAM) methods. We evaluate developed approaches in photo-realistic simulator in two modes: with ground-truth depths and neural network reconstructed depth maps as vSLAM input. We evaluate standard metrics in order to estimate exploration coverage.
Citations by journals
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1
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SoftwareX
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SoftwareX
1 publication, 33.33%
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Robotics
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Robotics
1 publication, 33.33%
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1
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Citations by publishers
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1
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Elsevier
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Elsevier
1 publication, 33.33%
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Multidisciplinary Digital Publishing Institute (MDPI)
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Multidisciplinary Digital Publishing Institute (MDPI)
1 publication, 33.33%
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1
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- We do not take into account publications that without a DOI.
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Muravyev K. et al. Enhancing Exploration Algorithms for Navigation with Visual SLAM // Lecture Notes in Computer Science. 2021. Vol. 12948 LNAI. pp. 197-212.
GOST all authors (up to 50)
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Muravyev K., Bokovoy A., Yakovlev K. Enhancing Exploration Algorithms for Navigation with Visual SLAM // Lecture Notes in Computer Science. 2021. Vol. 12948 LNAI. pp. 197-212.
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TY - GENERIC
DO - 10.1007/978-3-030-86855-0_14
UR - https://doi.org/10.1007%2F978-3-030-86855-0_14
TI - Enhancing Exploration Algorithms for Navigation with Visual SLAM
T2 - Lecture Notes in Computer Science
AU - Muravyev, Kirill
AU - Bokovoy, Andrey
AU - Yakovlev, Konstantin
PY - 2021
DA - 2021/10/04 00:00:00
PB - Springer Nature
SP - 197-212
VL - 12948 LNAI
SN - 0302-9743
SN - 1611-3349
SN - 1861-2075
SN - 1861-2083
ER -
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@incollection{2021_Muravyev,
author = {Kirill Muravyev and Andrey Bokovoy and Konstantin Yakovlev},
title = {Enhancing Exploration Algorithms for Navigation with Visual SLAM},
publisher = {Springer Nature},
year = {2021},
volume = {12948 LNAI},
pages = {197--212},
month = {oct}
}