Research

SLAM

SLAM Algorithms based on Particle Filters and Kalman Filters

• Improved Particle Filter using Geometric Relation between Particles in FastSLAM

• PSO-FastSLAM: An improved FastSLAM framework using particle swarm optimization

• Adaptive prior boosting technique for the efficient sample size in FastSLAM

• Analysis of Resampling Process for the Particle Depletion Problem in FastSLAM

• FastSLAM 에서 파티클 군집 최적화를 이용한 파티클 필터링 기법

• FastSLAM에서 particle의 밀도 정보를 사용하는 향상된 resampling 기법

Multi-Robot SLAM / Map Merging Algorithms

• Tomographic Feature-Based Map Merging for Multi-Robot Systems

• Multi-hypothesis map merging with sinogram-based PSO for multi-robot systems

• Accurate Map Merging with Virtual Emphasis for Multi-Robot Systems

• Enhanced-Spectrum-based Map Merging for Multi-Robot System

• Probabilistic Map Merging for Multi-Robot RBPF-SLAM with Unknown Initial Poses

• One-Way Observation-based Cooperative Robot Mapping

• A Survey of Map Merging Techniques for Cooperative-SLAM

• 다개체 로봇 시스템에서 정밀 지도병합을 위한 Monte-Carlo 최적화 적용 기법

• 다개체 로봇 SLAM에서 지도 병합을 위한 모서리 탐지 알고리즘의 적용 기법

• 군집 로봇 시스템을 위한 구분적 스펙트럼 기반 지도 병합 기술

LIDAR-based SLAM / Scan Matching Algorithms

• A Scan Restoration Method for Robust Polar Scan Matching in Dynamic Environments

• Robust Scan Matching with Curvature-based Matching Region Selection

• Comparison and Analysis of Scan Matching Techniques for Cooperative-SLAM

• 교차상관관계를 이용한 향상된 Polar Scan Matching 기법

Visual SLAM / SLAM with Infrared Features

• Improved Feature Map Merging using Virtual Supporting Lines for Multi-Robot Systems

• 실내 환경에서 Infrared 카메라를 이용한 실용적 FastSLAM 구현 방법

• FastSLAM using infrared filtered camera with unknown data association