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题名: Map segmentation for simultaneous localization and mapping in ruins
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
关键词: mapping ; SLAM ; map segmentation ; mobile robot
刊名: Advanced Robotics
ISSN号: 0169-1864
出版日期: 2016
卷号: 30, 期号:1, 页码:1-14
收录类别: SCI ; EI
产权排序: 1
项目资助者: National Natural Science Foundation of China under [grant number 61473283].
摘要: The distribution of environmental features of the internal ruins which are formed by a randomly seismic disaster is unpredictable. Therefore, the existing methods of map segmentation, which need to preset parameters, cannot be directly used. Considering the lack of prior knowledge, a map segmentation method based on the spectral clustering is proposed in the framework of hierarchical simultaneous localization and mapping (SLAM) algorithm. The method solves the problem of incremental complexity of SLAM algorithm using the division of environment. In accordance with the similarity of observed environment, a weighted graph is established. The nodes in the graph are generated by measuring the expected information gain and position redundancy. Then, the graph is partitioned into subjective results of map segment based on the criterion of minimum normalized cut. On the basis of the inherent sparse of SLAM, the proposed algorithm not only reduces the cost of calculation, but also minimizes the loss of information in order to ensure the global consistency. Finally, the feasibility and effectiveness of the algorithm are verified by simulation and experiment. © 2016 Taylor and Francis and The Robotics Society of Japan.
语种: 英语
WOS记录号: WOS:000368524800001
WOS标题词: Science & Technology ; Technology
类目[WOS]: Robotics
关键词[WOS]: METRIC-TOPOLOGICAL SLAM ; ENVIRONMENTS ; ALGORITHMS
研究领域[WOS]: Robotics
Citation statistics:
内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/17617
Appears in Collections:机器人学研究室_期刊论文

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Recommended Citation:
Wang N,Ma SG,Li B,et al. Map segmentation for simultaneous localization and mapping in ruins[J]. Advanced Robotics,2016,30(1):1-14.
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