Simultaneous Localization And Mapping Using The Support Image Base Algorithm

The application of the basic SLAM algorithm is considered. The application object of these algorithms in most cases is a mobile robotic platform equipped with a set of sensors, the type of which is determined by the framework of the problem to solve: the accuracy of the trajectory evaluation and the mapping, the conditions of illumination and the geometry of space. To implement simultaneous localization and mapping, in particular to construct the map graph, a set of singular invariant points is used. In this implementation, the storage of invariant points is reduced to the storage of invariant objects that exist in the source database. Special attention is paid to the compilation of the algorithm for the forming of the map graph of objects. The implementation of the experiment is described, numerical estimates of the algorithm quality are given.