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基于Voronoi地图表示方法的同步定位与地图创建

郭帅 马书根 李斌 王明辉 王越超

郭帅, 马书根, 李斌, 王明辉, 王越超. 基于Voronoi地图表示方法的同步定位与地图创建. 自动化学报, 2011, 37(9): 1095-1104. doi: 10.3724/SP.J.1004.2011.01095
引用本文: 郭帅, 马书根, 李斌, 王明辉, 王越超. 基于Voronoi地图表示方法的同步定位与地图创建. 自动化学报, 2011, 37(9): 1095-1104. doi: 10.3724/SP.J.1004.2011.01095
GUO Shuai, MA Shu-Gen, LI Bin, WANG Ming-Hui, WANG Yue-Chao. Simultaneous Localization and Mapping Through a Voronoi-diagram-based Map Representation. ACTA AUTOMATICA SINICA, 2011, 37(9): 1095-1104. doi: 10.3724/SP.J.1004.2011.01095
Citation: GUO Shuai, MA Shu-Gen, LI Bin, WANG Ming-Hui, WANG Yue-Chao. Simultaneous Localization and Mapping Through a Voronoi-diagram-based Map Representation. ACTA AUTOMATICA SINICA, 2011, 37(9): 1095-1104. doi: 10.3724/SP.J.1004.2011.01095

基于Voronoi地图表示方法的同步定位与地图创建

doi: 10.3724/SP.J.1004.2011.01095
详细信息
    通讯作者:

    郭帅 中国科学院沈阳自动化研究所博士研究生. 主要研究方向为移动机器人及机器人同步定位与地图创建. E-mail: guoshuai@sia.cn

Simultaneous Localization and Mapping Through a Voronoi-diagram-based Map Representation

  • 摘要: 针对基于混合米制地图机器人同步定位与地图创建 (Simultaneous localization and mapping, SLAM)中地图划分方法不完善的问题, 提出了基于Voronoi地图表示方法的同步定位与地图创建算法VorSLAM. 该算法在全局坐标系下创建特征地图, 并根据此特征地图使用Voronoi图唯一地划分地图空间, 在每一个划分内部创建一个相对于特征的局部稠密地图. 特征地图与各个局部地图最终一起连续稠密地描述了环境. Voronoi地图表示方法解决了地图划分的唯一性问题, 理论证明局部地图可以完整描述该划分所对应的环境轮廓. 该地图表示方法一个基本特点是特征与局部地图一一对应, 每个特征都关联一个定义在该特征上的局部地图. 基于该特点, 提出了一个基于形状匹配的数据关联算法, 用以解决传统数据关联算法出现的多重关联问题. 一个公寓弧形走廊的实验验证了VorSLAM算法和基于形状匹配的数据关联方法的有效性.
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  • 收稿日期:  2010-12-29
  • 修回日期:  2011-02-18
  • 刊出日期:  2011-09-20

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