Please use this identifier to cite or link to this item: http://hdl.handle.net/10397/94620
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dc.contributorDepartment of Industrial and Systems Engineeringen_US
dc.creatorTseng, KKen_US
dc.creatorLi, Jen_US
dc.creatorChang, Yen_US
dc.creatorYung, KLen_US
dc.creatorChan, CYen_US
dc.creatorHsu, CYen_US
dc.date.accessioned2022-08-25T01:54:12Z-
dc.date.available2022-08-25T01:54:12Z-
dc.identifier.issn1751-7575en_US
dc.identifier.urihttp://hdl.handle.net/10397/94620-
dc.language.isoenen_US
dc.publisherTaylor & Francisen_US
dc.rights© 2021 Informa UK Limited, trading as Taylor & Francis Groupen_US
dc.rightsThis is an Accepted Manuscript of an article published by Taylor & Francis in Enterprise Information Systems on 08 Dec 2019 (published online), available at: http://www.tandfonline.com/10.1080/17517575.2019.1698772.en_US
dc.subjectExtended kalman filteren_US
dc.subjectMotion estimationen_US
dc.subjectORBen_US
dc.subjectPlanetary roveren_US
dc.subjectSimultaneous localisation and mappingen_US
dc.subjectSystem designen_US
dc.titleA new architecture for simultaneous localization and mapping : an application of a planetary roveren_US
dc.typeJournal/Magazine Articleen_US
dc.identifier.spage1162en_US
dc.identifier.epage1178en_US
dc.identifier.volume15en_US
dc.identifier.issue8en_US
dc.identifier.doi10.1080/17517575.2019.1698772en_US
dcterms.abstractA new architecture implements one Monocular Simultaneous Localization and Mapping (SLAM) system to track the unconstraint motion of a mobile robot. The modified ORB (Oriented FAST and Rotated BRIEF) features represent the landmarks for designing a grid feature detection algorithm. An upgraded feature matching method has improved the robustness of feature matching. The Modified coVariance Extended Kalman Filter (MVEKF) estimates the multiple dimension states of the free moving visual sensor instead of the familiar Extended Kalman Filter (EKF). The simulation navigation of Lunar and Mars surfaces proves that the proposed method is robust and efficient.en_US
dcterms.accessRightsopen accessen_US
dcterms.bibliographicCitationEnterprise information systems, 2021, v. 15, no. 8, p. 1162-1178en_US
dcterms.isPartOfEnterprise information systemsen_US
dcterms.issued2021-
dc.identifier.scopus2-s2.0-85076435827-
dc.identifier.eissn1751-7583en_US
dc.description.validate202208 bcwwen_US
dc.description.oaAccepted Manuscripten_US
dc.identifier.FolderNumberISE-0192-
dc.description.fundingSourceOthersen_US
dc.description.fundingTextShenzhen Government; Shenzhen Development and Reform Commission through Shenzhen Development and Reform; The Hong Kong Polytechnic Universityen_US
dc.description.pubStatusPublisheden_US
dc.identifier.OPUS60269411-
dc.description.oaCategoryGreen (AAM)en_US
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