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Natural corners-based SLAM in unknown indoor environment
- Authors
- Yan, Rui-Jun; Wu, Jing; Lim, Sung-Jin; Lee, Ji-Yeong; Han, Chang-Soo
- Issue Date
- Nov-2012
- Keywords
- Laser sensor; Natural corners; SLAM; Unknown environment
- Citation
- 2012 9th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2012, pp.259 - 261
- Indexed
- SCOPUS
- Journal Title
- 2012 9th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2012
- Start Page
- 259
- End Page
- 261
- ISSN
- 0000-0000
- Abstract
- The simultaneous localization and mapping (SLAM) in 2D unknown environment based on the natural corners is presented in this paper. The corners are chosen as landmarks by finding the intersection points or the end points of the line segments extracted from the raw sensor data. The mapping is constructed by the Improved Extended Kalman Filter (IEKF) based SLAM algorithm, the procedure of which is analyzed for proving the lower computation cost than standard EKF- SLAM algorithm. Finally, the experiment of line extraction, corner extraction and robot localization and mapping by using P3-DX mobile robot and HOKUYO laser sensor, which shows that the mapping with natural corners can be done very well. Copyright © 2012 IEEE.
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Related Researcher
- Lee, Ji Yeong
- ERICA 공학대학 (DEPARTMENT OF ROBOT ENGINEERING)