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题名: A Hybrid Map Representation for Simultaneous Localization and Mapping of the Internal Ruins Environment
作者: 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: Proceeding of the IEEE International Conference on Information and Automation
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2013
页码: 1059-1064
收录类别: EI
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.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/13893
Appears in Collections:机器人学研究室_会议论文

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