激光和视觉SLAM融合参考文献

特征层数据融合

 

1.估计理论数据融合方式
（1）卡尔曼滤波
（2）协方差融合方法
（3）最小二乘法
参考论文：
Wen Shuhuan, Othman Kamal Mohammed, Rad Ahmad B, et al. Indoor slam using laser and camera
with closed-loop controller for nao humanoid robot[J]. Abstract and Applied Analysis,
2014, 2014(1): 1-6.
Amarasinghe Dilan, Mann George K I, Gosine Raymond G. Integrated laser-camera sensor for
the detection and localization of landmarks for robotic applications[A]. in IEEE
International Conference on Robotics and Automation[C]. Pasadena, 2008:4012-4017.
Zhang Xinzheng, Rad A B, Wong Y K. Sensor fusion of monocular cameras and laser
rangefinders for line-based simulataneous localization and mapping(slam) tasks in
autonomous mobile robots[J]. 2012, 12(1)：429-452.
Sun Fengchi, Zhou Yuan, Li Chao, et al. Research on active slam with fusion of monocular
vision and laser range data[A]. in the 8th world congress on intelligent control and
automation[C], 2010: 6550-6554.

 

2.分类数据融合方法
Svm based slam algorithm for autonomous mobile robots. Shen Jiali,Hu Huosheng.
International Conference on Mechatronics and Automation . 2007
Fusion of support vector machines for classification of multisensor data.
Waske, Bj?rn,Benediktsson, Jón Atli. IEEE Transactions on Geoscience and Remote Sensing .
2007

 

3.推理数据融合方法
P-SLAM: Simultaneous localization and mapping with environmental-structure prediction.
Chang, H. Jacky,Lee, C.S. George,Lu, Yung-Hsiang,Hu, Y. Charlie. IEEE Transactions on
Robotics . 2007
A new estimation method for multisensor fusion by using interval analysis and particle
filtering. Gning A,Abdallah F,Bonnifait P. IEEE International Conference on Robotics
and Automation . 2007

 

4.人工智能数据融合方法
Design and implementation of an adaptive fuzzy logic-based controller for wheeled
mobile robots. Das, Tamoghna,Kar, Indra Narayan. IEEE Transactions on Control Systems
Technology . 2006
A fuzzy logic architecture for autonomous multisensor data fusion. Stover J A,
Hall D L,Gibson R E. IEEE Transactions on Industrial Electronics . 1996