Building maps of large environments using splines and geometric analysis

Pedraza Gomara, Luis and Rodríguez-Losada González, Diego and San Segundo Carrillo, Pablo and Matía Espada, Fernando (2008). Building maps of large environments using splines and geometric analysis. In: "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.

Description

Title: Building maps of large environments using splines and geometric analysis
Author/s:
  • Pedraza Gomara, Luis
  • Rodríguez-Losada González, Diego
  • San Segundo Carrillo, Pablo
  • Matía Espada, Fernando
Item Type: Presentation at Congress or Conference (Article)
Event Title: IEEE/RSJ 2008 International Conference on Intelligent RObots and Systems. IROS 2008
Event Dates: 22/09/2008-26/09/2008
Event Location: Niza, Francia
Title of Book: Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on
Date: 14 October 2008
ISBN: 978-1-4244-2057-5
Subjects:
Faculty: E.U.I.T. Industrial (UPM)
Department: Electrónica, Automática e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

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.

More information

Item ID: 3870
DC Identifier: http://oa.upm.es/3870/
OAI Identifier: oai:oa.upm.es:3870
DOI: 10.1109/IROS.2008.4650976
Official URL: http://iros2008.inria.fr/
Deposited by: Memoria Investigacion
Deposited on: 26 Jul 2010 08:41
Last Modified: 20 Apr 2016 13:18
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