A Method for Establishing Correspondences Between Hand-Drawn and Sensor-Generated Maps
A Method for Establishing Correspondences Between Hand-Drawn and Sensor-Generated Maps
复制标题
一种在手绘地图和传感器生成地图之间建立对应关系的方法
DOI：
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
C. Grimm
中科院分区：
文献类型：
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作者：
Leo Bowen;Suzanne L. Dazo;Yili Zhang;Alexander Hubers;Matthew Rueben;Ross T. Sowell;W. Smart;C. Grimm
地图，特别是平面图，对于规划从布置家具到指定概念或功能空间（例如，厨房、走道）。然而，直接从机器人传感器数据生成的地图可能难以解释和用于此目的，特别是对于不习惯它们的个人，因为传感器和里程测量误差以及映射算法本身的概率性质。在本文中，我们提出了一种算法，用于快速将平面图（或其他概念地图）放置到由传感器数据生成的地图上，在两者之间创建一对一的映射。这允许人类与机器人进行交互，以使用更容易理解的世界表示，而机器人本身则使用传感器生成的地图。
Maps, and specifically floor plans, are useful for planning a variety of tasks from arranging furniture to designating conceptual or functional spaces (e.g., kitchen, walkway). However, maps generated directly from robot sensor data can be hard to interpret and use for this purpose, especially for individuals who are not used to them, because of sensor and odometry measurement errors and the probabilistic nature of the mapping algorithms themselves. In this paper, we present an algorithm for quickly laying a floor plan (or other conceptual map) onto a map generated from sensor data, creating a one-to-one mapping between the two This allows humans interacting with the robot to use a more readily-understandable representation of the world, while the robot itself uses the sensor-generated map.