文章基本信息

标题：An intelligible implementation of FastSLAM2.0 on a low-power embedded architecture
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作者：Albert A. Jiménez Serrata ; Shufan Yang ; Renfa Li 等
期刊名称：EURASIP Journal on Embedded Systems
印刷版ISSN：1687-3955
电子版ISSN：1687-3963
出版年度：2017
卷号：2017
期号：1
页码：1-11
DOI：10.1186/s13639-017-0075-9
出版社：Hindawi Publishing Corporation
摘要：The simultaneous localisation and mapping (SLAM) algorithm has drawn increasing interests in autonomous robotic systems. However, SLAM has not been widely explored in embedded system design spaces yet due to the limitation of processing recourses in embedded systems. Especially when landmarks are not identifiable, the amount of computer processing will dramatically increase due to unknown data association. In this work, we propose an intelligible SLAM solution for an embedded processing platform to reduce computer processing time using a low-variance resampling technique. Our prototype includes a low-cost pixy camera, a Robot kit with L298N motor board and Raspberry Pi V2.0. Our prototype is able to recognise artificial landmarks in a real environment with an average 75% of identified landmarks in corner detection and corridor detection with only average 1.14 W.
关键词：Simultaneous localisation and mapping ; Robotics ; Embedded systems ; Pixy camera ;