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Pedraza Gomara, Luis, Rodríguez-Losada González, Diego, San Segundo Carrillo, Pablo ORCID: https://orcid.org/0000-0001-7050-5563 and Matía Espada, Fernando ORCID: https://orcid.org/0000-0002-2198-1448 (2008). Building maps of large environments using splines and geometric analysis. En: "IEEE/RSJ 2008 International Conference on Intelligent RObots and Systems. IROS 2008", 22/09/2008-26/09/2008, Niza, Francia. ISBN 978-1-4244-2057-5. pp. 1600-1605. https://doi.org/10.1109/IROS.2008.4650976.
Título: | Building maps of large environments using splines and geometric analysis |
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Autor/es: |
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Tipo de Documento: | Ponencia en Congreso o Jornada (Artículo) |
Título del Evento: | IEEE/RSJ 2008 International Conference on Intelligent RObots and Systems. IROS 2008 |
Fechas del Evento: | 22/09/2008-26/09/2008 |
Lugar del Evento: | Niza, Francia |
Título del Libro: | Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on |
Fecha: | 14 Octubre 2008 |
ISBN: | 978-1-4244-2057-5 |
Materias: | |
Escuela: | E.U.I.T. Industrial (UPM) [antigua denominación] |
Departamento: | Electrónica, Automática e Informática Industrial [hasta 2014] |
Licencias Creative Commons: | Reconocimiento - Sin obra derivada - No comercial |
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Recently, a novel solution to the Simultaneous Localization and Map building (SLAM) problem for complex indoor environments was presented, using a set of splines for describing the geometries detected by a laser range finder mounted on a mobile platform. In this paper, a method for exploiting the geometric information underlying in these maps in the data association process is described. The proposed approach uses graphs of relations between simple features extracted from the environment, and a bit encoded implementation for obtaining a maximum clique that relates observations with previously visited areas. This information is used to update the relative positions of a collage of submaps of limited size.
ID de Registro: | 3870 |
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Identificador DC: | https://oa.upm.es/3870/ |
Identificador OAI: | oai:oa.upm.es:3870 |
Identificador DOI: | 10.1109/IROS.2008.4650976 |
URL Oficial: | http://iros2008.inria.fr/ |
Depositado por: | Memoria Investigacion |
Depositado el: | 26 Jul 2010 08:41 |
Ultima Modificación: | 20 Abr 2016 13:18 |