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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)
Department机器人学研究室
Conference Name2013 IEEE International Conference on Information and Automation
Conference DateAugust 26-28, 2013
Conference PlaceYinchuan, China
Source PublicationProceeding of the IEEE International Conference on Information and Automation
PublisherIEEE
Publication PlaceNEW YORK
2013
Pages1059-1064
Indexed ByEI ; CPCI(ISTP)
EI Accession number20140917372609
WOS IDWOS:000346483800192
Contribution Rank1
ISBN978-1-4977-1334-3
KeywordRuins Environment Simultaneous Localization And Mapping Topological Map Hybrid Map Representation
AbstractAccording 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.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/13893
Collection机器人学研究室
Corresponding AuthorWang N(王楠)
Affiliation1.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
Recommended Citation
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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