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
- 학위논문
- 저자정보
- 지도교수
- 이장명
- 발행연도
- 2015
- 저작권
- 부산대학교 논문은 저작권에 의해 보호받습니다.
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- 연관 학술논문 또는 학술발표를 통해 보다 발전된 연구결과를 확인하실 수 있습니다.
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초록· 키워드
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This paper suggests using the ICP(Iterative Closet Point) algorithm based on feature points to compensate a two-dimensional map. The ICP algorithm is a typical algorithm method using matching distance data. When building a two-dimensional map, using data through the value of a laser scanner, it occurred warping and distortion of a two-dimensional map because of the difference of distance from the value of the sensor. It uses the ICP algorithm in order to reduce any error of line. The existing ICP algorithm needs to reference data that can be matched. But, proposed algorithm extracts the characteristic points using the characteristics of laser scanner without reference data. The laser scanner has the characteristic that from the right side of the moving direction of the mobile robot. As convert the frame after find at the intersection of the previous frame and the next frame and determine the rotation matrix and the motion vector, distance error is corrected. The validity of the proposed method is proved thorough comparison with the existing ICP algorithm experiment in this paper.
목차
1. 서 론······························ 11.1. 연구 배경 및 연구 동향 ·················· 11.2. 연구내용 및 범위 ····················· 32. 시스템 구성 ···························· 42.1. 개요 ··························· 42.2. 이동로봇 설계 ······················· 42.3. 기구학 분석 ························ 113. ICP 알고리즘 ···························· 143.1. ICP 알고리즘 ······················· 143.2. Simplification of the Error Function ············ 153.3. Closed Form Solution ··················· 163.4. SVD 분해를 이용한 변환 행렬 계산 ············· 174. 2D 지도의 특징 점 ························· 194.1. 특징 점 추출 ······················· 194.2. 특징 점 기반 ICP 알고리즘 ················· 205. 실험 및 결과 ··························· 255.1. 기존의 ICP 알고리즘 적용 ················ 265.2. 특징 점 기반의 ICP 알고리즘 적용 ············· 296. 결 론 ····························· 33참고문헌 ······························ 31Abstract ······························ 35감사의 글 ······························ 37
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