Use of the parallel and perpendicular characteristics of building shape for indoor map making and positioning
Use of the parallel and perpendicular characteristics of building shape for indoor map making and positioning
复制标题
利用建筑物形状的平行和垂直特性进行室内地图制作和定位
DOI：
10.1109/iros.2010.5650220
复制
发表时间：
2010
期刊：
影响因子：
--
通讯作者：
S. Yuta
中科院分区：
文献类型：
--
作者：
Shigeru Bando;S. Yuta
我们正试图开发一种简单的自主地图制作方法的室内移动的机器人，使用的属性，通常的建筑物，我们可以假设，主要墙壁平行或垂直排列。基于这些性质，机器人可以很容易地找到自己的方向，其周围的范围数据，从而可以避免在计算方向的累积误差。在本文中，我们提出了一种方法来知道机器人的方向使用扫描范围数据的环境墙壁，和方法来建立地图连接扫描范围数据使用此属性。最后给出了一个移动的机器人在不使用里程计的情况下绘制室内地图的实验结果，表明了该方法的有效性。
We are trying to develop an easy autonomous map making method for indoor mobile robots, using the property of the usual buildings, which we can assume that the major walls are arranged parallel or perpendicular. Based on these properties, the robot can find its own direction easily, with its surroundings range data, so that the accumulated error in the calculated direction can be avoided. In this paper, we propose a method to know the robot direction using scanned range data of the environment walls, and the method to build the map by connecting the scanned range data using this property. We also present an example of experimental results of indoor map making by a mobile robot without using the odometry, which shows the effectiveness of the proposed method.
影响因子：
22.7
作者：
DUDA, RO;HART, PE
通讯作者：
HART, PE