| 引用本文: | 陈东岳,张立明.SLAM问题中的模糊几何地图与顶点自定位法[J].控制理论与应用,2006,23(5):679~686.[点击复制] |
| CHEN Dong-yue, ZHANG Li-ming.Fuzzy geometric maps and vertex self-localization for SLAM problem[J].Control Theory and Technology,2006,23(5):679~686.[点击复制] |
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| SLAM问题中的模糊几何地图与顶点自定位法 |
| Fuzzy geometric maps and vertex self-localization for SLAM problem |
| 摘要点击 1971 全文点击 1081 投稿时间：2004-09-20 修订日期：2006-02-27 |
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| DOI编号 |
| 2006,23(5):679-686 |
| 中文关键词 地图建模 模糊几何地图 顶点定位法 同时定位和地图建模(SLAM) |
| 英文关键词 map building fuzzy geometric map vertex localization simultaneously localization and map building SLAM |
| 基金项目 国家自然科学基金资助项目(60171036,30370392); 上海科委重点基金资助项目(045115020)． |
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| 中文摘要 |
| 在模糊几何地图的基础上提出了顶点定位法来解决机器人的室内SLAM中的实时自定位问题．顶点定位法是从传感信息中抽取多边形顶点作为路标进行定位．顶点定位法与传统的边匹配定位法比较有计算量小,定位精度高等优点．此外本文提出了基于空间距离的传感数据两次分类方法构建模糊几何地图,提高了数字地图精确度．实验结果表明其性能优于传统的方法． |
| 英文摘要 |
| This paper proposes a vertex self-localization method based on fuzzy geometric maps to solve the real-time localization of in-door SLAM (simultaneously localization and map building) problem. The vertex self-localization is to extract the vertexes of polygons as the landmarks from the raw sensor information. Compared with the traditional edge match method, vertex self-localization has higher accuracy and less computational complexity. A novel twice-classification method is also proposed to improve the precision of digital maps. Finally, experimental results are given to show that our method is more efficient than the traditional edge match method. |