- Tytuł:
- Toward rich geometric map for SLAM : online detection of planes in 2D LIDAR
- Autorzy:
- Berger, C.
- Powiązania:
- https://bibliotekanauki.pl/articles/385041.pdf
- Data publikacji:
- 2013
- Wydawca:
- Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
- Tematy:
-
laser scanner
SLAM
lidar - Opis:
- Rich geometric models of the environment are needed for robots to carry out their missions. However a robot operating in a large environment would require a compact representation. In this article, we present a method that relies on the idea that a plane appears as a line segment in a 2D scan, and that by tracking those lines frame after frame, it is possible to estimate the parameters of that plane. The method is divided in three steps: fitting line segments on the points of the 2D scan, tracking those line segments in consecutive scan and estimating the parameters with a graph based SLAM (Simultaneous Localisation And Mapping) algorithm.
- Źródło:
-
Journal of Automation Mobile Robotics and Intelligent Systems; 2013, 7, 1; 35-41
1897-8649
2080-2145 - Pojawia się w:
- Journal of Automation Mobile Robotics and Intelligent Systems
- Dostawca treści:
- Biblioteka Nauki
Artykuł