Map segmentation for simultaneous localization and mapping in ruins
文献类型：期刊论文
| 作者 | Wang N(王楠) ; Ma SG(马书根); Li B(李斌); Wang MH(王明辉); Zhao MY(赵明扬)
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| 刊名 | Advanced Robotics
 |
| 出版日期 | 2016 |
| 卷号 | 30期号:1页码:1-14 |
| 关键词 | mapping SLAM map segmentation mobile robot |
| ISSN号 | 0169-1864 |
| 产权排序 | 1 |
| 通讯作者 | 王明辉 |
| 中文摘要 | The distribution of environmental features of the internal ruins which are formed by a randomly seismic disaster is unpredictable. Therefore, the existing methods of map segmentation, which need to preset parameters, cannot be directly used. Considering the lack of prior knowledge, a map segmentation method based on the spectral clustering is proposed in the framework of hierarchical simultaneous localization and mapping (SLAM) algorithm. The method solves the problem of incremental complexity of SLAM algorithm using the division of environment. In accordance with the similarity of observed environment, a weighted graph is established. The nodes in the graph are generated by measuring the expected information gain and position redundancy. Then, the graph is partitioned into subjective results of map segment based on the criterion of minimum normalized cut. On the basis of the inherent sparse of SLAM, the proposed algorithm not only reduces the cost of calculation, but also minimizes the loss of information in order to ensure the global consistency. Finally, the feasibility and effectiveness of the algorithm are verified by simulation and experiment. © 2016 Taylor and Francis and The Robotics Society of Japan. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Robotics |
| 研究领域[WOS] | Robotics |
| 关键词[WOS] | METRIC-TOPOLOGICAL SLAM ; ENVIRONMENTS ; ALGORITHMS |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000368524800001 |
| 源URL | [http://ir.sia.cn/handle/173321/17617]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Wang N,Ma SG,Li B,et al. Map segmentation for simultaneous localization and mapping in ruins[J]. Advanced Robotics,2016,30(1):1-14. |
| APA | Wang N,Ma SG,Li B,Wang MH,&Zhao MY.(2016).Map segmentation for simultaneous localization and mapping in ruins.Advanced Robotics,30(1),1-14. |
| MLA | Wang N,et al."Map segmentation for simultaneous localization and mapping in ruins".Advanced Robotics 30.1(2016):1-14. |
入库方式： OAI收割
来源：沈阳自动化研究所
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