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ID:40603419
大小:1.29 MB
页数:6页
时间:2019-08-04
《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
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