- Tytuł:
- Interactive mapping using range sensor data under localization uncertainty
- Autorzy:
-
Vieira, P.
Ventura, R. - Powiązania:
- https://bibliotekanauki.pl/articles/950808.pdf
- Data publikacji:
- 2013
- Wydawca:
- Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
- Tematy:
-
2D mapping
interactive interface
ICP
geometric constraint analysis
iterative methods - Opis:
- Several methods have been proposed in the literature to address the problem of automatic mapping by a robot using range scan data, under localization uncertainty. Most scan matching methods rely on the minimization of the matching error among individual range scans. However, uncertainty in sensor data often leads to erroneous matching, hard to cope with in a purely automatic approach. This paper proposes a semi-automatic approach, denoted interactive mapping, involving a human operator in the process of detecting and correcting erroneous matches. Instead of allowing the operator complete freedom in correcting the matching in a frame by frame basis, the proposed method facilitates the adjustment along the directions with more ambiguity, while constraining the others. Experimental results using LIDAR data are presented to validate empirically the approach, together with a preliminary user study to evaluate the benefits of the approach.
- Źródło:
-
Journal of Automation Mobile Robotics and Intelligent Systems; 2013, 7, 1; 47-53
1897-8649
2080-2145 - Pojawia się w:
- Journal of Automation Mobile Robotics and Intelligent Systems
- Dostawca treści:
- Biblioteka Nauki
Artykuł