A Simultaneous Localization and Mapping Algorithm in Complex Environments: SLASEM
文献类型：期刊论文
| 作者 | Sun RC(孙荣川); Ma SG(马书根) ; Li B(李斌); Wang MH(王明辉); Wang YC(王越超)
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| 刊名 | ADVANCED ROBOTICS
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| 出版日期 | 2011 |
| 卷号 | 25期号:6-7页码:941-962 |
| 关键词 | Localization mapping SLAM Kalman filter mobile robots |
| ISSN号 | 0169-1864 |
| 产权排序 | 1 |
| 中文摘要 | In this paper we present an algorithm for the application of simultaneous localization and mapping in complex environments. Instead of building a grid map or building a feature map with a small number of the obstacles' geometric parameters, the proposed algorithm builds a sampled environment map (SEM) to represent a complex environment with a set of environment samples. To overcome the lack of one-to-one correspondence between environment samples and raw observations, the signed orthogonal distance function is proposed to be used as the observation model. A method considering geometric constraints is presented to remove redundant environment samples from the SEM. We also present a method to improve the SEM's topological consistency by using corner constraints. The proposed algorithm has been verified in a simulation and an indoor experiment. The results show that the algorithm can localize the robot and build a complex map effectively. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2011 |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Robotics |
| 研究领域[WOS] | Robotics |
| 关键词[WOS] | PLANAR CURVES ; SLAM PROBLEM ; SEGMENTATION ; SURFACES ; FILTERS |
| 收录类别 | SCI ; EI |
| 资助信息 | This work is supported by the National High Technology Research and Development Program of China (863 Program) (2006AA04Z230 and 2007AA041502-5). |
| 语种 | 英语 |
| WOS记录号 | WOS:000290747500013 |
| 公开日期 | 2012-05-29 |
| 源URL | [http://ir.sia.cn/handle/173321/7287]  |
| 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 | Sun RC,Ma SG,Li B,et al. A Simultaneous Localization and Mapping Algorithm in Complex Environments: SLASEM[J]. ADVANCED ROBOTICS,2011,25(6-7):941-962. |
| APA | Sun RC,Ma SG,Li B,Wang MH,&Wang YC.(2011).A Simultaneous Localization and Mapping Algorithm in Complex Environments: SLASEM.ADVANCED ROBOTICS,25(6-7),941-962. |
| MLA | Sun RC,et al."A Simultaneous Localization and Mapping Algorithm in Complex Environments: SLASEM".ADVANCED ROBOTICS 25.6-7(2011):941-962. |
入库方式： OAI收割
来源：沈阳自动化研究所
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