3D Simultaneous localization and map building (SLAM) using a 2D laser range finder based on vertical/horizontal planar polygons

Cited 0 time in webofscience Cited 8 time in scopus
  • Hit : 766
  • Download : 0
DC FieldValueLanguage
dc.contributor.authorLee, Seungeunko
dc.contributor.authorKim, Byung-Kookko
dc.date.accessioned2015-06-24T02:24:25Z-
dc.date.available2015-06-24T02:24:25Z-
dc.date.created2015-06-12-
dc.date.created2015-06-12-
dc.date.issued2014-11-
dc.identifier.citationJournal of Institute of Control, Robotics and Systems, v.20, no.11, pp.1153 - 1163-
dc.identifier.issn1976-5622-
dc.identifier.urihttp://hdl.handle.net/10203/199012-
dc.description.abstractAn efficient 3D SLAM (Simultaneous Localization and Map Building) method is developed for urban building environments using a tilted 2D LRF (Laser Range Finder), in which a 3D map is composed of perpendicular/horizontal planar polygons. While the mobile robot is moving, from the LRF scan distance data in each scan period, line segments on the scan plane are successively extracted. We propose an "expected line segment" concept for matching: to add each of these scan line segments to the most suitable line segment group for each perpendicular/horizontal planar polygon in the 3D map. After performing 2D localization to determine the pose of the mobile robot, we construct updated perpendicular/horizontal infinite planes and then determine their boundaries to obtain the perpendicular/horizontal planar polygons which constitute our 3D map. Finally, the proposed SLAM algorithm is validated via extensive simulations and experiments.-
dc.languageEnglish-
dc.publisherInstitute of Control, Robotics and Systems-
dc.title3D Simultaneous localization and map building (SLAM) using a 2D laser range finder based on vertical/horizontal planar polygons-
dc.typeArticle-
dc.identifier.scopusid2-s2.0-84909987809-
dc.type.rimsART-
dc.citation.volume20-
dc.citation.issue11-
dc.citation.beginningpage1153-
dc.citation.endingpage1163-
dc.citation.publicationnameJournal of Institute of Control, Robotics and Systems-
dc.identifier.doi10.5302/J.ICROS.2014.14.0027-
dc.contributor.localauthorKim, Byung-Kook-
dc.contributor.nonIdAuthorLee, Seungeun-
dc.subject.keywordAuthor3D map building-
dc.subject.keywordAuthorLRF-
dc.subject.keywordAuthorMobile robot-
dc.subject.keywordAuthorSLAM-
dc.subject.keywordAuthorVertical/horizontal planar polygon-
Appears in Collection
EE-Journal Papers(저널논문)
Files in This Item
There are no files associated with this item.

qr_code

  • mendeley

    citeulike


rss_1.0 rss_2.0 atom_1.0