A New Method for Indoor Low-cost Mobile Robot SLAM
文献类型：会议论文
| 作者 | Weina Xi; Yongsheng Ou; Jiansheng Peng; Gang Yu |
| 出版日期 | 2017 |
| 会议地点 | 中国澳门 |
| 英文摘要 | Simultaneous Localizatoin and Mapping (SLAM) is an active area of robot research and the location technology of mobile robots is a very critical issue in the filed of SLAM. Low cost and high performance can not be balanced in commercial robots and we plan to achieve better performance with low-cost sensors. This paper focuses on the study of complex indoor environment and a new method of point cloud matching and lowcost mobile robot localization is presented. Firstly, we change the data within a range of distance from laser to image by building grid maps and we consider each map has no scaling relation to others. Second, fast Fourier transformation is used to get the rotation angle. In order to get translation parameters, onedimensional Fourier transformation is used to horizontal projection and vertical projection of map. We can build maps based on positioning results. Finally, we perform comparative experiments with other common methods. |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/11880]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | 2017 |
| 推荐引用方式 GB/T 7714 | Weina Xi,Yongsheng Ou,Jiansheng Peng,et al. A New Method for Indoor Low-cost Mobile Robot SLAM[C]. 见:. 中国澳门. |
入库方式： OAI收割
来源：深圳先进技术研究院
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