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题名: VorSLAM: A new solution to simultaneous localization and mapping
作者: Guo S(郭帅) ; Ma SG(马书根) ; Li B(李斌) ; Sun RC(孙荣川) ; Wang YC(王越超)
作者部门: 机器人学研究室
会议名称: 2010 IEEE International Conference on Information and Automation, ICIA 2010
会议日期: June 20-23, 2010
会议地点: Harbin, Heilongjiang, China
会议录: 2010 IEEE International Conference on Information and Automation, ICIA 2010
会议录出版者: IEEE Computer Society
会议录出版地: Piscataway, NJ
出版日期: 2010
页码: 1896-1901
收录类别: EI
ISBN号: 9781424457021
摘要: This paper presents a new solution to the problem of simultaneous localization and mapping (SLAM). Traditional extended Kalman filter (EKF) based SLAM (EKF-SLAM) algorithms describe unknown environments with simple geometric elements, such as points for landmarks. This limits the EKF-SLAM to environments suited to such models and tends to discard much potentially useful data. The solution proposed in this paper makes use of all the collected data and gives a more detailed description to the environment, which is a combination of EKF-SLAM and scan match. Landmarks are extracted from raw observations and their locations are estimated by using feature based EKF-SLAM. Around each landmark a local dense map of the environment is built. The landmarks and local maps together give a detailed and compact description of the environment. Voronoi division has been used to build local maps. It guarantees the local maps have none overlaps and have a proper metric scale. Experimental result demonstrates the efficiency of the algorithm. ©2010 IEEE.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8945
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
郭帅; 马书根; 李斌; 孙荣川; 王越超.VorSLAM: A new solution to simultaneous localization and mapping.见:IEEE Computer Society.2010 IEEE International Conference on Information and Automation, ICIA 2010,Piscataway, NJ ,2010,1896-1901
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