Publication detail

Scan to map fitting for indoor localisation of mobile robots - vectorized approach

JELÍNEK, A. ŽALUD, L.

Original Title

Scan to map fitting for indoor localisation of mobile robots - vectorized approach

Type

conference paper

Language

English

Original Abstract

Localisation with a map and especially a simultaneous localisation and mapping (SLAM) employs researchers in robotics for more than three decades. Large amount of data calls for an effective compression and generalizing technique, which would help to get rid of unnecessary measurements and distinguish between the signal and a noise. We believe, that such technique is vectorization, i.e. conversion of point-like data (originating from distance measurement) into more complex geometrical objects, such as line segments in two dimensional space, or triangle meshes in 3D. To prove a practical usability of our approach in the SLAM related problems, a scan to map registration procedure was devised. It is fast and gives optimal results, if correct correspondences are provided. Though we do not deal with the SLAM in its full complexity yet, the results confirm the vectorization to be a viable way forward and determine further direction of our research.

Keywords

Line segment, registration, slam, feature matching

Authors

JELÍNEK, A.; ŽALUD, L.

Released

20. 4. 2017

Publisher

Masaryk University

Location

Brno

ISBN

978-80-210-8550-3

Book

CEITEC PhD Retreat II, Book of abstracts

Edition

1

Pages from

75

Pages to

75

Pages count

1

BibTex

@inproceedings{BUT135006,
  author="Aleš {Jelínek} and Luděk {Žalud}",
  title="Scan  to  map  fitting  for  indoor  localisation of mobile robots - vectorized approach",
  booktitle="CEITEC PhD Retreat II, Book of abstracts",
  year="2017",
  series="1",
  pages="75--75",
  publisher="Masaryk University",
  address="Brno",
  isbn="978-80-210-8550-3"
}