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A new hybrid metric map representation by using Voronoi diagram and its application to SLAM
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
会议录名称2012 IEEE International Conference on Information and Automation, ICIA 2012
出版者IEEE Computer Society
出版地Washington, DC
2012
页码400-405
收录类别EI ; CPCI(ISTP)
EI收录号20123915478381
WOS记录号WOS:000318899300071
产权排序1
ISBN号978-1-4673-2238-6
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.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/9862
专题机器人学研究室
通讯作者Guo S(郭帅)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Graduate School of the Chinese Academy of Sciences, Beijing 100039, China
3.Department of Robotics, Ritsumeikan University, 1-1-1 Noji-Higashi, Kusatsu-Shi, Shiga-Ken 525-8577, Japan
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GB/T 7714
Guo S,Ma SG,Li B,et al. A new hybrid metric map representation by using Voronoi diagram and its application to SLAM[C]. Washington, DC:IEEE Computer Society,2012:400-405.
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