GPU-based heuristic escape for outdoor large scale registration
文献类型：会议论文
| 作者 | Yin P(殷鹏); Gu F(谷丰) ; Li DC(李德才); He YQ(何玉庆); Yang LY(杨丽英); Han JD(韩建达)
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| 出版日期 | 2016 |
| 会议名称 | 2016 IEEE International Conference on Real-time Computing and Robotics (IEEE RCAR 2016) |
| 会议日期 | June 6-10, 2016 |
| 会议地点 | Angkor Wat, Cambodia. |
| 页码 | 260-265 |
| 通讯作者 | 殷鹏 ; 何玉庆 ; 韩建达 |
| 中文摘要 | Heterogeneous robot introduce a higher perception ability than single type robots in outdoor environments. One key problem is to making the 3D environmental model from the cooperated robots in real time, especially in the unstructured environment. Based on our previous work on outdoor environment registration method, in this paper, we introduce a GPU based Enhanced ICP method for large-scale heterogeneous robot registration. First, we combine the GPU-based nearest neighbor search in the traditional ICP framework. Second, we proposed a measurement and estimation model for the local minima problem. Third, we proposed a GPU-based heuristic escape method to generate the escaping transformation in real time. Experiments involving one unmanned aerial vehicle and one unmanned surface vehicle were conducted to verify the proposed technique. The experimental results were compared with those of normal ICP registration algorithms to demonstrate the performance of the proposed method. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | 2016 IEEE International Conference on Real-time Computing and Robotics (IEEE RCAR 2016)
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| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-4673-8959-4 |
| WOS记录号 | WOS:000391370200046 |
| 源URL | [http://ir.sia.cn/handle/173321/19556]  |
| 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 | Yin P,Gu F,Li DC,et al. GPU-based heuristic escape for outdoor large scale registration[C]. 见:2016 IEEE International Conference on Real-time Computing and Robotics (IEEE RCAR 2016). Angkor Wat, Cambodia.. June 6-10, 2016. |
入库方式： OAI收割
来源：沈阳自动化研究所
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