SIA OpenIR  > 机器人学研究室
Alternative TitleSimultaneous localization and mapping based on morphological characteristics of the seismic damage of the interior ruins
王楠; 马书根; 李斌; 王明辉; 赵明扬
Source Publication科学通报
Contribution Rank1
Funding Organization国家自然科学基金(61105098)资助
Keyword拓扑地图 米制地图 混合地图 同步定位与地图创建 废墟内部环境
Other AbstractBased on the morphological characteristics of the seismic damage of the interior ruins, this paper presents a map building mechanism for simultaneous localization and mapping using analytic hierarchy process and proposes a SLAM algorithm based on the hybrid topological metric map. According to the structural characteristics of the localized destruction, the aggregation degree of corner feature is proposed as an identification method for the topological node. To ensure the computing capacity and interactivity, a global topological map is built including the completion of the node identification, logic positioning and closed-loop detection. Based on the local metric map, the detailed information of the morphology of seismic damage is represented by grid maps which ensure the environmental adaptability. Through the experimental comparison, the ability of environmental details description and closed-loop detection and the availability at an artificial ruins environment are verified. The experiments prove the feasibility of the algorithm at practical tasks such as search and rescue and disaster assessment.
Document Type期刊论文
3.Department of Technology Ritsumeikan University
Recommended Citation
GB/T 7714
王楠,马书根,李斌,等. 面向废墟内部震害形态的同步定位与地图创建[J]. 科学通报,2013,58(S2):104-111.
APA 王楠,马书根,李斌,王明辉,&赵明扬.(2013).面向废墟内部震害形态的同步定位与地图创建.科学通报,58(S2),104-111.
MLA 王楠,et al."面向废墟内部震害形态的同步定位与地图创建".科学通报 58.S2(2013):104-111.
Files in This Item:
File Name/Size DocType Version Access License
面向废墟内部震害形态的同步定位与地图创建(2002KB) 开放获取CC BY-NC-SAView Application Full Text
Related Services
Recommend this item
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[王楠]'s Articles
[马书根]'s Articles
[李斌]'s Articles
Baidu academic
Similar articles in Baidu academic
[王楠]'s Articles
[马书根]'s Articles
[李斌]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[王楠]'s Articles
[马书根]'s Articles
[李斌]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: 面向废墟内部震害形态的同步定位与地图创建.pdf
Format: Adobe PDF
All comments (0)
No comment.

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.