HMAPs - Hybrid Height- Voxel Maps for Environment Representation
HMAPs - Hybrid Height- Voxel Maps for Environment Representation
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HMAP - 用于环境表示的混合高度体素图
DOI：
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
U. Nunes
中科院分区：
文献类型：
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作者：
L. Garrote;C. Premebida;David Silva;U. Nunes
本文提出了一种混合的类3D栅格映射方法，称为HMAP，用于可靠和高效地表示移动机器人周围的环境。该映射方法以三维点云为输入数据，解决了HMAP内部高度-体素(HVoxel)元素的表示问题，其中自由和占用的空间通过HVoxel来建模，从而得到了一种可靠的3D表示方法。该方法纠正了基于2D和2.5D表示的复杂环境表示所固有的一些问题，同时保持了更新的网格表示。此外，我们还提出了一个完整的基于HMAP的SLAM流水线。使用Microsoft Kinect One(室内)和Velodyne VLP-16LiDAR(室外)的数据进行了室内和室外实验，以验证所提出的表示方法。结果表明，与经典的2.5D表示相比，HMAP可以提供场景中复杂元素的更详细的视图。此外，在室外数据集中对所提出的SLAM方法进行了验证，取得了令人满意的结果，为该课题的进一步研究奠定了基础。
This paper presents a hybrid 3D-like grid-based mapping approach, that we called HMAP, used as a reliable and efficient 3D representation of the environment surrounding a mobile robot. Considering 3D point-clouds as input data, the proposed mapping approach addresses the representation of height-voxel (HVoxel) elements inside the HMAP, where free and occupied space is modeled through HVoxels, resulting in a reliable method for 3D representation. The proposed method corrects some of the problems inherent to the representation of complex environments based on 2D and 2.5D representations, while keeping an updated grid representation. Additionally, we also propose a complete pipeline for SLAM based on HMAPs. Indoor and outdoor experiments were carried out to validate the proposed representation using data from a Microsoft Kinect One (indoor) and a Velodyne VLP-16 LiDAR (outdoor). The obtained results show that HMAPs can provide a more detailed view of complex elements in a scene when compared to a classic 2.5D representation. Moreover, validation of the proposed SLAM approach was carried out in an outdoor dataset with promising results, which lay a foundation for further research in the topic.
影响因子：
3.5
作者：
Hornung, Armin;Wurm, Kai M.;Burgard, Wolfram
通讯作者：
Burgard, Wolfram