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VorSLAM: A new solution to simultaneous localization and mapping
Guo S(郭帅); Ma SG(马书根); Li B(李斌); Sun RC(孙荣川); Wang YC(王越超)
Department机器人学研究室
Conference Name2010 IEEE International Conference on Information and Automation, ICIA 2010
Conference DateJune 20-23, 2010
Conference PlaceHarbin, China
Source Publication2010 IEEE International Conference on Information and Automation, ICIA 2010
PublisherIEEE Computer Society
Publication PlacePiscataway, NJ
2010
Pages1896-1901
Indexed ByEI
EI Accession number20103413171568
Contribution Rank1
ISBN978-1-4244-5702-1
AbstractThis 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.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/8945
Collection机器人学研究室
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Department of Robotics, Ritsumeikan University, 1-1-1 Noji-Higashi, Kusatsu-Shi Shiga-Ken 525-8577, Japan
3.Graduate School of the Chinese Academy of Sciences, Beijing 100039, China
Recommended Citation
GB/T 7714
Guo S,Ma SG,Li B,et al. VorSLAM: A new solution to simultaneous localization and mapping[C]. Piscataway, NJ:IEEE Computer Society,2010:1896-1901.
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