A Hierarchical Map Building for SLAM Used in Ruins Environments
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 | 2014 |
| 会议名称 | 11th World Congress on Intelligent Control and Automation (WCICA 2014) |
| 会议日期 | June 29 - July 4, 2014 |
| 会议地点 | Shenyang, China |
| 关键词 | Hierarchical map Simultaneous localization and mapping Map representation Interior ruins |
| 页码 | 1409-1414 |
| 中文摘要 | As to the morphological characteristics of the seismic damage of the interior ruins, this paper presents a map building mechanism by using the analytic hierarchy process and proposes a hierarchical simultaneous localization and mapping (SLAM) algorithm that is based on the hybrid metric-topological map. The architecture of the ruins-oriented SLAM system consists of three layers. In the intermediate layer, the global environment is partitioned on the basis of the spectral clustering that can reduce the computational cost and ensure the global consistency. A semantic map is built in the top layer where the node identification and logic location are included. According to the characteristics of the seismic destruction, an aggregation degree of features is proposed as an identification method for building topological nodes to improve the interactivity. In the bottom layer, details of the morphology of the destruction are described as grid maps that ensure the environmental adaptability. Through experiments, the ability of environmental description and the availability at an artificial ruins environment are verified. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议录 | Proceeding of the 11th World Congress on Intelligent Control and Automation
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISBN号 | 978-1-4799-5825-2 |
| 源URL | [http://ir.sia.cn/handle/173321/15387]  |
| 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 Hierarchical Map Building for SLAM Used in Ruins Environments[C]. 见:11th World Congress on Intelligent Control and Automation (WCICA 2014). Shenyang, China. June 29 - July 4, 2014. |
入库方式： OAI收割
来源：沈阳自动化研究所
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