Aplicación de un EIF-SLAM en entornos agrícolas basado en detección de troncos de árboles
Abstract
En este trabajo se presenta la implementación de un algoritmo de SLAM (por sus siglas en inglés de Simultaneous Localization and Mapping) en un Filtro Extendido de Información para ambientes agrícolas (plantación de olivos). El algoritmo de SLAM se encuentra implementado en un robot unmanned tipo car-like no-holonómico. El mapeo del ambiente se basa en la implementación de máquinas de soporte vectorial (SVM, por sus siglas en inglés de Support Vector Machine) para la extracción de troncos asociados a los olivos del entorno. Este trabajo incluye resultados experimentales de implementación en entornos agrícolas reales.
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