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A Hybrid Map Representation for Simultaneous Localization and Mapping of the Internal Ruins Environment
Wang N(王楠); Ma SG(马书根); Li B(李斌); Wang MH(王明辉); Zhao MY(赵明扬)
作者部门机器人学研究室
会议名称2013 IEEE International Conference on Information and Automation
会议日期August 26-28, 2013
会议地点Yinchuan, China
会议录名称Proceeding of the IEEE International Conference on Information and Automation
出版者IEEE
出版地NEW YORK
2013
页码1059-1064
收录类别EI ; CPCI(ISTP)
EI收录号20140917372609
WOS记录号WOS:000346483800192
产权排序1
ISBN号978-1-4977-1334-3
关键词Ruins Environment Simultaneous Localization And Mapping Topological Map Hybrid Map Representation
摘要According to morphological characteristics in the interior of ruins after an earthquake disaster, a map representation technique for ruins environment is presented, and a corresponding simultaneous localization and mapping algorithm on the basis of hybrid map is proposed. Based on the topological metric hybrid map, the algorithm describes ruins environment at different levels. At global level, the topological map organizes the overall structure and also ensures the computing capability and ambient adaptability. Then, through building a local metric map at each topological node region, irregular obstacles formed by random seismic damage are described. Finally, experiments in an artificial ruins environment show that the algorithm can realize localization and mapping at the complicated environment.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/13893
专题机器人学研究室
通讯作者Wang N(王楠)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.University of Chinese Academy of Sciences, Beijing 100049, China
3.Department of Technology, Ritsumeikan University, Kusatsu-Shi 525-8577, Japan
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GB/T 7714
Wang N,Ma SG,Li B,et al. A Hybrid Map Representation for Simultaneous Localization and Mapping of the Internal Ruins Environment[C]. NEW YORK:IEEE,2013:1059-1064.
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