Observatorio de I+D+i UPM

Memorias de investigación
Communications at congresses:
Building maps of large environments using splines and geometric analysis
Year:2008
Research Areas
  • Automatic
Information
Abstract
Recently, a novel solution to the Simultaneous Localization and Map building (SLAM) problem for complex indoor environments was presented, using a set of splines for describing the geometries detected by a laser range finder mounted on a mobile platform. In this paper, a method for exploiting the geometric information underlying in these maps in the data association process is described. The proposed approach uses graphs of relations between simple features extracted from the environment, and a bit encoded implementation for obtaining a maximum clique that relates observations with previously visited areas. This information is used to update the relative positions of a collage of submaps of limited size.
International
Si
Congress
International Conference on Intelligent Robots and Systems, 2008. IROS 2008
960
Place
Niza, Francia
Reviewers
Si
ISBN/ISSN
978-1-4244-2057-5
10.1109/IROS.2008.4650976
Start Date
22/09/2008
End Date
26/09/2008
From page
1600
To page
1605
Proceedings International Conference on Intelligent Robots and Systems, IROS'08
Participants
  • Autor: Pablo San Segundo Carrillo (UPM)
  • Autor: Fernando Matia Espada (UPM)
  • Autor: Diego Rodriguez-Losada Gonzalez (UPM)
  • Autor: Luis Pedraza Gómara (UPM)
Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Control Inteligente
  • Departamento: Electrónica, Automática e Informática Industrial
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial
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