Interactive mapping using range sensor data under localization uncertainty

• Autorzy: Vieira P. , Ventura R.
• Języki publikacji: EN

Abstrakty

EN

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.

Słowa kluczowe

EN

2D mapping; interactive interface; ICP; geometric constraint analysis; iterative methods

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2013
• Tom: Vol. 7, No. 1
• Strony: 47--53
• Opis fizyczny: Bibliogr. 11 poz., rys.

Twórcy

autor

Vieira P.

• Institute for Systems and Robotics, Instituto Superior Técnico

autor

Ventura R.

• Institute for Systems and Robotics, Instituto Superior Técnico,

Bibliografia

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