Abstract
A mobile robot must be capable of localizing itself in unknown environments and constructing a map of the environments at the same time. Simultaneous localization and mapping (SLAM) is a challenging problem in indoor envi- ronments because GPS information isn't available. An algorithm is proposed in this paper for SLAM with vision sensors, which is designed by utilizing the artificial landmark MR code and integrating the FastSLAM algorithm, the method can decrease the time cost compared with particle filter and improve the accuracy of localization and mapping compared with natural landmarks. Experiments show the effectiveness and robustness of this algorithm.
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