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GPU-based heuristic escape for outdoor large scale registration
Yin P(殷鹏); Gu F(谷丰); Li DC(李德才); He YQ(何玉庆); Yang LY(杨丽英); Han JD(韩建达)
作者部门机器人学研究室
会议名称2016 IEEE International Conference on Real-time Computing and Robotics (IEEE RCAR 2016)
会议日期June 6-10, 2016
会议地点Angkor Wat, Cambodia.
会议录名称2016 IEEE International Conference on Real-time Computing and Robotics (IEEE RCAR 2016)
出版者IEEE
出版地New York
2016
页码260-265
收录类别EI ; CPCI(ISTP)
EI收录号20170403280291
WOS记录号WOS:000391370200046
产权排序1
ISBN号978-1-4673-8959-4
摘要Heterogeneous robot introduce a higher perception ability than single type robots in outdoor environments. One key problem is to making the 3D environmental model from the cooperated robots in real time, especially in the unstructured environment. Based on our previous work on outdoor environment registration method, in this paper, we introduce a GPU based Enhanced ICP method for large-scale heterogeneous robot registration. First, we combine the GPU-based nearest neighbor search in the traditional ICP framework. Second, we proposed a measurement and estimation model for the local minima problem. Third, we proposed a GPU-based heuristic escape method to generate the escaping transformation in real time. Experiments involving one unmanned aerial vehicle and one unmanned surface vehicle were conducted to verify the proposed technique. The experimental results were compared with those of normal ICP registration algorithms to demonstrate the performance of the proposed method.
语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/19556
专题机器人学研究室
通讯作者Yin P(殷鹏)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
2.University of Chinese Academy of Sciences, Beijing, 100049, China
推荐引用方式
GB/T 7714
Yin P,Gu F,Li DC,et al. GPU-based heuristic escape for outdoor large scale registration[C]. New York:IEEE,2016:260-265.
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