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A Hierarchical Map Building for SLAM Used in Ruins Environments
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11th World Congress on Intelligent Control and Automation (WCICA 2014)
会议日期June 29 - July 4, 2014
会议地点Shenyang, China
会议录名称Proceeding of the 11th World Congress on Intelligent Control and Automation
出版者IEEE
出版地Piscataway, NJ, USA
2014
页码1409-1414
收录类别EI ; CPCI(ISTP)
EI收录号20152600978188
WOS记录号WOS:000393066201074
产权排序1
ISBN号978-1-4799-5825-2
关键词Hierarchical Map Simultaneous Localization And Mapping Map Representation Interior Ruins
摘要As to the morphological characteristics of the seismic damage of the interior ruins, this paper presents a map building mechanism by using the analytic hierarchy process and proposes a hierarchical simultaneous localization and mapping (SLAM) algorithm that is based on the hybrid metric-topological map. The architecture of the ruins-oriented SLAM system consists of three layers. In the intermediate layer, the global environment is partitioned on the basis of the spectral clustering that can reduce the computational cost and ensure the global consistency. A semantic map is built in the top layer where the node identification and logic location are included. According to the characteristics of the seismic destruction, an aggregation degree of features is proposed as an identification method for building topological nodes to improve the interactivity. In the bottom layer, details of the morphology of the destruction are described as grid maps that ensure the environmental adaptability. Through experiments, the ability of environmental description and the availability at an artificial ruins environment are verified. 
语种英语
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被引频次:1[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/15387
专题机器人学研究室
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
3.Department of Robotics, Faculty of Science and Technology, Ritsumeikan University, Kusatsu-Shi, Japan
推荐引用方式
GB/T 7714
Wang N,Ma SG,Li B,et al. A Hierarchical Map Building for SLAM Used in Ruins Environments[C]. Piscataway, NJ, USA:IEEE,2014:1409-1414.
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