NDLI: A Hybrid SLAM method for service robots in Indoor Environment

Content Provider	IEEE Xplore Digital Library
Author	Zhao Lijun Ge Lianzheng Wang Ke Li Ruifeng
Copyright Year	2011
Description	Author affiliation: Robotics Institute, Harbin Institute of Technology, 150001, China (Zhao Lijun; Ge Lianzheng; Wang Ke; Li Ruifeng)
Abstract	This paper proposes efficient approach for mobile robots mapping in dynamic indoor environment based on artificial landmarks. Consider, real indoor environment in which nonstructural factors and dynamic objects may be built hybrid model. In this paper, topological map is built based on square root unscented Kalman filter that improving estimation accuracy of conventional SLAM. An efficient strategy is designed to remove dynamic object data and introduces Metric-based ICP algorithm to update the state matrix for compensating for an odometer error. Base on topological map, local metric map is built. The results of simulation and experiment demonstrate that the proposed approach is able to build topological/metric map characterized by higher accuracy and robustness than that of conventional EKF-SLAM.
Starting Page	4034
Ending Page	4039
File Size	276147
Page Count	6
File Format	PDF
ISBN	9781457706776
ISSN	21612927
e-ISBN	9789881725592
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-07-22
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Chinese Assoc of Automati
Subject Keyword	Measurement Mobile Robot Topological Map Simultaneous localization and mapping SLAM Heuristic algorithms Robot kinematics Indoor environments Dynamic Environment Modeling
Content Type	Text
Resource Type	Article

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