Detail publikačního výsledku

On registration of vector maps with known correspondences

JELÍNEK, A.; LIGOCKI, A.

Originální název

On registration of vector maps with known correspondences

Anglický název

On registration of vector maps with known correspondences

Druh

Článek WoS

Originální abstrakt

Data association and registration is an important and actively researched topic in robotics. This paper deals with registration of two sets of line segments, which is especially useful in mapping applications. Our method is non-iterative, finding an optimal transformation in a single step, in a time proportional only to a number of the corresponding line segments. The procedure also provides diagnostic measures of reliability of the computation and of similarity of the data sets being registered. At this point, the method presumes known correspondences, which is limiting, but the discussion, in the end, reveals some possibilities to overcome this issue. Practical properties are demonstrated on a typical task of localization of a robot with a known map.

Anglický abstrakt

Data association and registration is an important and actively researched topic in robotics. This paper deals with registration of two sets of line segments, which is especially useful in mapping applications. Our method is non-iterative, finding an optimal transformation in a single step, in a time proportional only to a number of the corresponding line segments. The procedure also provides diagnostic measures of reliability of the computation and of similarity of the data sets being registered. At this point, the method presumes known correspondences, which is limiting, but the discussion, in the end, reveals some possibilities to overcome this issue. Practical properties are demonstrated on a typical task of localization of a robot with a known map.

Klíčová slova

correspondence search; least squares; point cloud; registration; vectorization

Klíčová slova v angličtině

correspondence search; least squares; point cloud; registration; vectorization

Autoři

JELÍNEK, A.; LIGOCKI, A.

Rok RIV

2020

Vydáno

01.09.2019

Nakladatel

VSB-Technical University of Ostrava

ISSN

1804-3119

Periodikum

Advances in Electrical and Electronic Engineering

Svazek

17

Číslo

3

Stát

Česká republika

Strany od

330

Strany do

342

Strany počet

13

URL

http://advances.utc.sk/index.php/AEEE/article/view/3451

Plný text v Digitální knihovně

http://hdl.handle.net/11012/180815

BibTex

@article{BUT159361,
  author="Aleš {Jelínek} and Adam {Ligocki}",
  title="On registration of vector maps with known correspondences",
  journal="Advances in Electrical and Electronic Engineering",
  year="2019",
  volume="17",
  number="3",
  pages="330--342",
  doi="10.15598/aeee.v17i3.3451",
  issn="1336-1376",
  url="http://advances.utc.sk/index.php/AEEE/article/view/3451"
}