Detail publikačního výsledku

Scan to map fitting for indoor localisation of mobile robots - vectorized approach

JELÍNEK, A.; ŽALUD, L.

Originální název

Scan to map fitting for indoor localisation of mobile robots - vectorized approach

Anglický název

Scan to map fitting for indoor localisation of mobile robots - vectorized approach

Druh

Stať ve sborníku v databázi WoS či Scopus

Originální abstrakt

Localisation with a map and especially a simultaneous localisation and mapping (SLAM) employs researchers in robotics for more than three decades. Large amount of data calls for an effective compression and generalizing technique, which would help to get rid of unnecessary measurements and distinguish between the signal and a noise. We believe, that such technique is vectorization, i.e. conversion of point-like data (originating from distance measurement) into more complex geometrical objects, such as line segments in two dimensional space, or triangle meshes in 3D. To prove a practical usability of our approach in the SLAM related problems, a scan to map registration procedure was devised. It is fast and gives optimal results, if correct correspondences are provided. Though we do not deal with the SLAM in its full complexity yet, the results confirm the vectorization to be a viable way forward and determine further direction of our research.

Anglický abstrakt

Localisation with a map and especially a simultaneous localisation and mapping (SLAM) employs researchers in robotics for more than three decades. Large amount of data calls for an effective compression and generalizing technique, which would help to get rid of unnecessary measurements and distinguish between the signal and a noise. We believe, that such technique is vectorization, i.e. conversion of point-like data (originating from distance measurement) into more complex geometrical objects, such as line segments in two dimensional space, or triangle meshes in 3D. To prove a practical usability of our approach in the SLAM related problems, a scan to map registration procedure was devised. It is fast and gives optimal results, if correct correspondences are provided. Though we do not deal with the SLAM in its full complexity yet, the results confirm the vectorization to be a viable way forward and determine further direction of our research.

Klíčová slova

Line segment, registration, slam, feature matching

Klíčová slova v angličtině

Line segment, registration, slam, feature matching

Autoři

JELÍNEK, A.; ŽALUD, L.

Rok RIV

2018

Vydáno

20.04.2017

Nakladatel

Masaryk University

Místo

Brno

ISBN

978-80-210-8550-3

Kniha

CEITEC PhD Retreat II, Book of abstracts

Edice

1

Strany od

75

Strany do

75

Strany počet

1

BibTex

@inproceedings{BUT135006,
  author="Aleš {Jelínek} and Luděk {Žalud}",
  title="Scan  to  map  fitting  for  indoor  localisation of mobile robots - vectorized approach",
  booktitle="CEITEC PhD Retreat II, Book of abstracts",
  year="2017",
  series="1",
  pages="75--75",
  publisher="Masaryk University",
  address="Brno",
  isbn="978-80-210-8550-3"
}