A new hybrid metric map representation by using Voronoi diagram and its application to SLAM
文献类型：会议论文
| 作者 | Guo S(郭帅) ; Ma SG(马书根); Li B(李斌); Wang MH(王明辉); Wang YC(王越超)
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| 出版日期 | 2012 |
| 会议名称 | 2012 IEEE International Conference on Information and Automation, ICIA 2012 |
| 会议日期 | June 6, 2012 - June 8, 2012 |
| 会议地点 | Shenyang, China |
| 关键词 | Graphic methods Mapping |
| 页码 | 400-405 |
| 通讯作者 | 郭帅 |
| 中文摘要 | In this paper we present a hybrid metric map representation, which partitions the global map space into a series of local subregions by operating Voronoi diagram on global feature map and builds a local dense map in each subregion. Compared with the existing hybrid metric map representation [1] [2] (HYMM), this new hybrid metric map representation has the following advantages: First, the Voronoi diagram ensures that the map partition result is unique. Second, the local environment contour in each subregion is proven to be described completely by its corresponding local map. Third, benefited from the presented hybrid metric map representation, a shape matching data association (DA) method is presented to deal with the ambiguity problem of traditional DA approaches. An experiment carried out in a corridor environment validates the effectiveness of the new hybrid metric map representation and the shape matching DA method. © 2012 IEEE. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | 2012 IEEE International Conference on Information and Automation, ICIA 2012
 |
| 会议录出版者 | IEEE Computer Society |
| 会议录出版地 | Washington, DC |
| 语种 | 英语 |
| ISBN号 | 978-1-4673-2238-6 |
| WOS记录号 | WOS:000318899300071 |
| 源URL | [http://ir.sia.cn/handle/173321/9862]  |
| 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 | Guo S,Ma SG,Li B,et al. A new hybrid metric map representation by using Voronoi diagram and its application to SLAM[C]. 见:2012 IEEE International Conference on Information and Automation, ICIA 2012. Shenyang, China. June 6, 2012 - June 8, 2012. |
入库方式： OAI收割
来源：沈阳自动化研究所
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