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题名: A new hybrid metric map representation by using Voronoi diagram and its application to SLAM
作者: Guo S(郭帅) ; Ma SG(马书根) ; Li B(李斌) ; Wang MH(王明辉) ; Wang YC(王越超)
作者部门: 机器人学研究室
会议名称: 2012 IEEE International Conference on Information and Automation, ICIA 2012
会议日期: June 6, 2012 - June 8, 2012
会议地点: Shenyang, China
会议录: 2012 IEEE International Conference on Information and Automation, ICIA 2012
会议录出版者: IEEE Computer Society
会议录出版地: Washington, DC
出版日期: 2012
页码: 400-405
收录类别: CPCI(ISTP) ; EI
ISBN号: 978-1467322386
关键词: Graphic methods ; Mapping
摘要: In this paper we present a hybrid metric map representation, which partitions the global map space into a series of local subregions by operating Voronoi diagram on global feature map and builds a local dense map in each subregion. Compared with the existing hybrid metric map representation [1] [2] (HYMM), this new hybrid metric map representation has the following advantages: First, the Voronoi diagram ensures that the map partition result is unique. Second, the local environment contour in each subregion is proven to be described completely by its corresponding local map. Third, benefited from the presented hybrid metric map representation, a shape matching data association (DA) method is presented to deal with the ambiguity problem of traditional DA approaches. An experiment carried out in a corridor environment validates the effectiveness of the new hybrid metric map representation and the shape matching DA method. © 2012 IEEE.
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内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/9862
Appears in Collections:机器人学研究室_会议论文

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