지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2011.9
- 수록면
- 247 - 254 (8page)
이용수
초록· 키워드
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This paper presents a method of sonar grid map matching for topological place recognition. The proposed method provides an effective rotation invariant grid map matching method. A template grid map is firstly extracted for reliable grid map matching by filtering noisy data in local grid map. Using the template grid map, the rotation invariant grid map matching is performed by Ring Projection Transformation. The rotation invariant grid map matching selects candidate locations which are regarded as representative point for each node. Then, the topological place recognition is achieved by calculating matching probability based on the candidate location. The matching probability is acquired by using both rotation invariant grid map matching and the matching of distance and angle vectors. The proposed method can provide a successful matching even under rotation changes between grid maps. Moreover, the matching probability gives a reliable result for topological place recognition. The performance of the proposed method is verified by experimental results in a real home environment.
목차
Abstract
1. 서론
2. Template 격자 지도 추출
3. 회전 불변 격자 지도 매칭
4. 공간 인식 확률 계산
5. 실험 결과
6. 결론
참고문헌
참고문헌 (13)
참고문헌 신청
1. [학술지(정기간행물)] - S. Thrun / 2001 / Robust Monte Carlo localization for mobile robots / Artificial Intelligence 128 (1) : 99 ~ 141
2. [학술지(정기간행물)] - J. J. Leonard / 1991 / Mobile robot localization by tracking geometric beacons / IEEE Transactions on Robotics and Automation 7 (3) : 376 ~ 382
4. [학술대회논문] - J.-S. Gutmann / 1999 / Incremental Mapping of Large Cyclic Environments / Proc. of IEEE International Symposium on Computational Intelligence in Robotics and Automation : 318 ~ 325
5. [학술대회논문] - O. M. Mozos / 2006 / Supervised learning of topological maps using semantic information extracted from range data / Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems : 2772 ~ 2777
6. [학술대회논문] - N. L. Doh / 2005 / Systematic Representation of Edges in Topological Maps for Mobile Robots using Wavelet Transformation / Proc. of IEEE International Conference on Robotics and Automation : 2833 ~ 2838
2. [학술지(정기간행물)] - J. J. Leonard / 1991 / Mobile robot localization by tracking geometric beacons / IEEE Transactions on Robotics and Automation 7 (3) : 376 ~ 382
4. [학술대회논문] - J.-S. Gutmann / 1999 / Incremental Mapping of Large Cyclic Environments / Proc. of IEEE International Symposium on Computational Intelligence in Robotics and Automation : 318 ~ 325
5. [학술대회논문] - O. M. Mozos / 2006 / Supervised learning of topological maps using semantic information extracted from range data / Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems : 2772 ~ 2777
6. [학술대회논문] - N. L. Doh / 2005 / Systematic Representation of Edges in Topological Maps for Mobile Robots using Wavelet Transformation / Proc. of IEEE International Conference on Robotics and Automation : 2833 ~ 2838
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UCI(KEPA) : I410-ECN-0101-2020-559-001259256