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In the paper, an algorithm is proposed for improving the data association in robot visual Simultaneous Localization and Mapping (SLAM). The detection of speeded-up robust feature (SURF) is employed in the algorithm to provide a robust description for image features as well as a better representation of landmarks in the map of a visual SLAM system.(More)
An algorithm for computing ray/B ezier patch intersections is described from a hardware design perspective. This algorithm uses patch subdivision and other geometrical techniques to find a given maximum number of intersection points nearest to the ray origin. A pipeline-based hardware architecture is proposed, the number of pipeline stages required is(More)
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