By Topic

Mobile robot mapping with geometrically inconsistent measurements in dynamic environments

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Tanaka, K. ; Kyushu Univ., Fukuoka ; Kondo, E.

Given a set of sensor data acquired by a mobile robot, we address a problem of evaluating degree of geometrical consistency between every datapair. Recently, such problems of consistency evaluation (or consistency matrix construction) have been increasingly important for mobile robot mapping systems to handle a geometrically inconsistent set of sensor data. In this paper, we focus on the application to 2D laser SLAM, and consider the consistency evaluation problem on a set of local maps acquired in dynamic environments. A computational difficulty arises from the need to perform a map-matching process for every mappair. To deal with the multiple map-matching processes, allocation of the limited computational resources among individual processes is an important planning problem. We show such a framework of multiple mappairs matching can be obtained as an extension of our previously published framework of single mappair matching, called incremental RANSAC. The methods have been applied to our SLAM system and experimentally evaluated in dynamic environments.

Published in:

SICE, 2007 Annual Conference

Date of Conference:

17-20 Sept. 2007