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Practical Computer Vision by Abhinav Dadhich

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Visual SLAM

SLAM refers to Simultaneous Localization and Mapping and is one of the most common problems in robot navigation. Since a mobile robot does not have hardcoded information about the environment around itself, it uses sensors onboard to construct a representation of the region. The robot tries to estimate its position with respect to objects around it like trees, building, and so on. This is, therefore, a chicken-egg problem, where the robot first tries to localize itself using objects around it and then uses its obtained location to map objects around it; hence the term Simultaneous  Localization and Mapping. There are several methods for solving the SLAM problem. In this section, we will discuss special types of SLAM using a single ...

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