A Hybrid Map Representation for Simultaneous Localization and Mapping of the Internal Ruins Environment
文献类型：会议论文
| 作者 | Wang N(王楠) ; Ma SG(马书根); Li B(李斌); Wang MH(王明辉); Zhao MY(赵明扬)
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| 出版日期 | 2013 |
| 会议名称 | 2013 IEEE International Conference on Information and Automation |
| 会议日期 | August 26-28, 2013 |
| 会议地点 | Yinchuan, China |
| 关键词 | ruins environment simultaneous localization and mapping topological map hybrid map representation |
| 页码 | 1059-1064 |
| 通讯作者 | 王楠 |
| 中文摘要 | According to morphological characteristics in the interior of ruins after an earthquake disaster, a map representation technique for ruins environment is presented, and a corresponding simultaneous localization and mapping algorithm on the basis of hybrid map is proposed. Based on the topological metric hybrid map, the algorithm describes ruins environment at different levels. At global level, the topological map organizes the overall structure and also ensures the computing capability and ambient adaptability. Then, through building a local metric map at each topological node region, irregular obstacles formed by random seismic damage are described. Finally, experiments in an artificial ruins environment show that the algorithm can realize localization and mapping at the complicated environment. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | Proceeding of the IEEE International Conference on Information and Automation
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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 | 978-1-4977-1334-3 |
| WOS记录号 | WOS:000346483800192 |
| 源URL | [http://ir.sia.cn/handle/173321/13893]  |
| 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 | Wang N,Ma SG,Li B,et al. A Hybrid Map Representation for Simultaneous Localization and Mapping of the Internal Ruins Environment[C]. 见:2013 IEEE International Conference on Information and Automation. Yinchuan, China. August 26-28, 2013. |
入库方式： OAI收割
来源：沈阳自动化研究所
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