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Alternative TitleA Model Transformation of Map Representation for Hierarchical SLAM That Can Be Used for After-earthquake Buildings
王楠; 马书根; 李斌; 王明辉; 赵明扬
Source Publication自动化学报
Indexed ByEI ; CSCD
EI Accession number20154901649320
Contribution Rank1
Funding Organization国家自然科学基金(61473283) 资助
Keyword同步定位与地图创建 地震救援 移动机器人 地图模型 谱聚类
Other AbstractBecause of the unpredictability of destructiveness and distribution of seismic damages in the after-earthquake buildings, it is difficult to preset an appropriate parameter of partition for a model transformation of map representation for hierarchical SLAM directly. In this paper, based on the graph partition, we propose a spatial segmentation method to achieve the model transformation of map representations for the hierarchical SLAM. The information of odometers and observations of the robot are abstracted as a graph. The generation of nodes is based on the information entropy and the weight of edges is measured by the environmental similarity. An auxiliary weighted graph and the similarity matrix are built. The normalized cut strategy is used to divide the graph and an environmental partition is obtained from the robot's point-of-view. On the premise of solving the problem of computational complexity increment, the loss of relevant information is minimized and the consistency of global mapping is ensured. Finally, the feasibility and validity of the proposed algorithm are verified by simulations and experiments in artificial ruins.
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Document Type期刊论文
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GB/T 7714
王楠,马书根,李斌,等. 震后建筑内部层次化SLAM的地图模型转换方法[J]. 自动化学报,2015,41(10):1723-1733.
APA 王楠,马书根,李斌,王明辉,&赵明扬.(2015).震后建筑内部层次化SLAM的地图模型转换方法.自动化学报,41(10),1723-1733.
MLA 王楠,et al."震后建筑内部层次化SLAM的地图模型转换方法".自动化学报 41.10(2015):1723-1733.
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