Enriched indoor environment map building using multi-sensor based fusion approach

《Enriched indoor environment map building using multi-sensor based fusion approach》由会员上传分享，免费在线阅读，更多相关内容在学术论文-天天文库。

1、The2010IEEE/RSJInternationalConferenceonIntelligentRobotsandSystemsOctober18-22,2010,Taipei,TaiwanEnrichedIndoorEnvironmentMapBuildingUsingMulti-SensorBasedFusionApproachRenC.Luo,ChunC.LaiandChinC.Hsiaoonthesamplingresolution.Abstract—IntelligentServiceRobot(ISR)hasbecomeincreasin

2、glynoticedbecauseofnewdevicesandnovelBasedonthepracticalneedsofaservicerobotapplicationtechnologiesthatmakeISRatrulyhandyhumanaidinareasinthebuilding,itisdesirabletoconstructaninformationmaplikemedicalcare,securitypatrol,tourguideandedutainment.autonomouslyinaunitarySLAMprocess.Th

3、isinformationTherefore,howtoprovideanapplicablemapforISRtomapconsistsofgeometricalstructureoftheenvironmentandautonomouslynavigateinsideabuildingfortaskexecutionbecomesanimminentissue.Thispaperinvestigatesanmeaningfulsignpatterns.Thispaperinvestigatesainformationenrichedmapconstru

4、ctedbytheenvironmentmulti-sensorapproachtocombinetheestimationofthesigngeometryfromlaserrangefinderandtheindoordirectivesignspatternsandanewoptimalalignmentapproachtobuildacommonlyseeninliving/workingenvironmentfromcameraconsistentinformationmap.Theoverallofsystemimage.Toimplement

5、thisenrichedmap,multi-sensorfusionarchitectureisshowninFig.2(a)andsomemeaningfultechniquesareutilizedforrobustposeandsignestimations.PatternsofInterest(POI)aredefinedasinFig.2(b).TheseFurthermore,animprovedalignmenttechniqueisappliedtoreducethecomputationalcomplexityinasingleGraph

6、-SLAMpatternsarecommoninanybuildingthusareusedinthePOIprocess.database.FromthesystemdiagraminFig.2(a),thecovarianceI.INTRODUCTIONintersection(CI)fusionruleisappliedforamorerobustcriteriononrobotposeestimationwhichisdescribedinONSIDERtheactualapplicationsofanintelligentCservicerobo

7、t(ISR),itisexpectedthatanISRwillnotsectionII.SectionⅢpresentsconsistentassociationmethodonlyautonomouslyestimatetheenvironmentstructurebutandoptimalalignmentmethodologyforgeometorymapalsodetectthemeaningfulsymbolsorsignsinthebuildingitbuilding.SectionⅣdescribesPOIdetectionanddepth

8、services.Forexample,anISRhastoloc