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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Su-Yong An Jeong-Gwan Kang Lae-Kyoung Lee Se-Young Oh |
| Copyright Year | 2010 |
| Description | Author affiliation: Department of Electrical and Electronic Engineering, Pohang University of Science and Technology (POSTECH), Pohang, Gyeongbuk, Korea (Su-Yong An; Jeong-Gwan Kang; Lae-Kyoung Lee; Se-Young Oh) |
| Abstract | This paper presents a simultaneous localization and mapping (SLAM) of a large indoor environment using Rao-Blackwellized particle filter (RBPF) along with line segments as the landmarks. To represent the environment as a compact form, we use only two end points of the line segment, reducing computational cost in modeling line uncertainty. With a modified scan point clustering method, the proposed adaptive iterative end point fitting (IEPF) plays an important role in estimating line parameters by taking a noisy scan point near end points into account. Thus, by line-segment matching the robot is localized well in a local frame. We also introduce an online global optimization of a map, which provides more consistent map by removing spurious lines and merging collinear lines. Each of our approaches is efficiently integrated into the proposed RBPF-SLAM framework. Experiments with well-known data set demonstrate that the proposed method provides a reliable SLAM performance along with a compact map representation. |
| Starting Page | 410 |
| Ending Page | 416 |
| File Size | 1693591 |
| Page Count | 7 |
| File Format | |
| ISBN | 9781424478149 |
| e-ISBN | 9781424478156 |
| DOI | 10.1109/ICARCV.2010.5707254 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2010-12-07 |
| Publisher Place | Singapore |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Simultaneous localization and mapping Feature extraction Clustering algorithms Indoor environments Covariance matrix Iterative End Point Fitting (IEPF) Line segment Localization Mapping |
| Content Type | Text |
| Resource Type | Article |
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