:We present a comparison of an extended Kalman lter and an adaptation of bundle adjustment from computer vision for mobile robot localization and mapping using a bearing-only senso...
— The Extended Kalman Filter (EKF) has been the de facto approach to the Simultaneous Localization and Mapping (SLAM) problem for nearly fifteen years. However, the EKF has two ...
Abstract-- This paper describes an on-line algorithm for multirobot simultaneous localization and mapping (SLAM). We take as our starting point the single-robot Rao-Blackwellized p...
A robust and efficient algorithm for trimming both local and global self-intersections in offset curves and surfaces is presented. Our scheme is based on the derivation of a ratio...
Navigation during Minimally Invasive Surgery
(MIS) has recognized difficulties due to limited field-of-view,
off-axis visualization and loss of direct 3D vision. This can cause
...