Memorias de investigación
Ponencias en congresos:
Building maps of large environments using splines and geometric analysis
Año:2008
Áreas de investigación
  • Automática
Datos
Descripción
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.
Internacional
Si
Nombre congreso
International Conference on Intelligent Robots and Systems, 2008. IROS 2008
Tipo de participación
960
Lugar del congreso
Niza, Francia
Revisores
Si
ISBN o ISSN
978-1-4244-2057-5
DOI
10.1109/IROS.2008.4650976
Fecha inicio congreso
22/09/2008
Fecha fin congreso
26/09/2008
Desde la página
1600
Hasta la página
1605
Título de las actas
Proceedings International Conference on Intelligent Robots and Systems, IROS'08
Esta actividad pertenece a memorias de investigación
Participantes
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • Creador: Grupo de Investigación: Control Inteligente
  • Departamento: Electrónica, Automática e Informática Industrial
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial