A relative map filter using linear invariant measurements
文献类型：会议论文
| 作者 | Sun RC(孙荣川); Ma SG(马书根) ; Li B(李斌); Wang YC(王越超)
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| 出版日期 | 2007 |
| 会议名称 | IEEE International Conference on Robotics and Biomimetics (ROBIO 2007) |
| 会议日期 | December 15-18, 2007 |
| 会议地点 | Sanya, China |
| 关键词 | SLAM consistency relative map linear invariant measurement AMF RMF |
| 页码 | 1635-1640 |
| 中文摘要 | In this paper, a new relative map algorithm is presented. The algorithm extracts linear invariant measurements from original laser scan data and uses an information filter to update the absolute map. The algorithm avoids the procedure of building the relative map, which is a basic procedure in other relative map algorithms. This improvement makes the new algorithm avoid the problem of inconsistency, which is inherent in other relative map algorithms. The requirements of computation and memory of this algorithm are linear over the size of the map, which are the same as RMGF However, our algorithm has a simpler structure and performs faster. Experimental result on a simulated map demonstrates the advantages of our algorithm. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE Robot & Automat Soc, Shandong Univ, Chinese Univ Hong Kong, Chiba Inst Technol, Robot Soc Japan, Soc Instrument & Control Engn, Japan Soc Mech Engn, ROBIO Fdn |
| 会议录 | 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-1761-2 |
| WOS记录号 | WOS:000257065801119 |
| 源URL | [http://ir.sia.cn/handle/173321/8518]  |
| 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 relative map filter using linear invariant measurements[C]. 见:IEEE International Conference on Robotics and Biomimetics (ROBIO 2007). Sanya, China. December 15-18, 2007. |
入库方式： OAI收割
来源：沈阳自动化研究所
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