Multi sensor map building based on sparse linear equations solver

Eijiro Takeuchi, Takashi Tsubouchi

研究成果: Conference contribution

18 被引用数 (Scopus)

抄録

This paper proposes fast map building algorithm for multiple modal exteroceptive(external) sensors based on trajectory optimization. To realize localization using multiple modal exteroceptive sensors needs consistent environment maps (landmark maps). Multiple sensor SLAM(Simultaneous Localization And Mapping) is one of solutions to build maps consistently. In implementation of SLAM, approximations of sensor model contribute to get speeded up the algorithm. However in several case, these approximations deteriorate quality of the map. This paper proposes fast and accurate map building algorithm using multiple modal sensors based on sparse linear equations solver. This algorithm needs less approximations-but computation speed is fast. In addition, application of measured data from multiple sensors to this algorithm is described.

本文言語English
ホスト出版物のタイトル2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
出版社IEEE Computer Society
ページ2511-2518
ページ数8
ISBN(印刷版)9781424420582
DOI
出版ステータスPublished - 2008 1月 1
イベント2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France
継続期間: 2008 9月 222008 9月 26

出版物シリーズ

名前2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Other

Other2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
国/地域France
CityNice
Period08/9/2208/9/26

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • 制御およびシステム工学
  • 電子工学および電気工学

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