Isovist-induced robust LiDAR localization도시 가시성 이론에 기반한 모바일 로봇의 강인한 위치인식 방법

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For the era of autonomous cars, the accurate and reliable positioning of a vehicle is critical. However, a city is still not easy for them. For example, tall buildings disrupt the GNSS signal. Therefore, it is necessary for a robot to estimate the position using only the surrounding information obtained from equipped sensors. However, the appearance of a place is diverse. Day and night are different. Dynamic objects appear and disappear. A building that existed yesterday could be demolished today. In this thesis, we explore the intrinsic feature of a place that distinguishes that place from others. How does a human recognize a place? In the field of urban design, there has been a concept called isovist. The isovist is an observer’s egocentric visibility and means the openness of a space. The openness that an observer feels in the space also determines the use of that space. For example, in a square, we get the feeling that we are open and that it is closed between high-rise buildings. The openness of the space refers to how robust it is in the presence of dynamic objects and light condition changes. This thesis proposes a robust robot localization method using a LiDAR. Because light goes straight, the shape of the surrounding environment obtained from a LiDAR is the robot’s egocentric visible space’s shape. Using this point cloud, the data-driven three-dimensional (3D) isovist is proposed and employed for robot localization. That is, in this thesis, robot localization meets 3D isovist. Extensive experiments are conducted to cover diverse environments and times, and the results—for example, those related to placeness —might come from the openness.
Advisors
Kim, Ayoungresearcher김아영researcher
Description
한국과학기술원 :건설및환경공학과,
Publisher
한국과학기술원
Issue Date
2019
Identifier
325007
Language
eng
Description

학위논문(석사) - 한국과학기술원 : 건설및환경공학과, 2019.2,[v, 60 p. :]

Keywords

Mobile robot▼alocalization▼aLight Detection And Ranging (LiDAR)▼apoint cloud▼a3D isovist; 모바일 로봇▼a위치인식▼a라이다▼a포인트 클라우드▼a3차원 개방도

URI
http://hdl.handle.net/10203/265582
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=842976&flag=dissertation
Appears in Collection
CE-Theses_Master(석사논문)
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