Computation of the optimal relative pose between overlapping grid maps through discrepancy minimization

Rodríguez-Losada González, Diego; Puente Yusty, Paloma de la; Valero, Alberto; San Segundo Carrillo, Pablo y Hernando Gutiérrez, Miguel (2010). Computation of the optimal relative pose between overlapping grid maps through discrepancy minimization. En: "7th IFAC Symposium on Intelligent Autonomous Vehicles (2010)", 06/09/2011 - 08/09/2011, Lecce, Italia.

Descripción

Título: Computation of the optimal relative pose between overlapping grid maps through discrepancy minimization
Autor/es:
  • Rodríguez-Losada González, Diego
  • Puente Yusty, Paloma de la
  • Valero, Alberto
  • San Segundo Carrillo, Pablo
  • Hernando Gutiérrez, Miguel
Tipo de Documento: Ponencia en Congreso o Jornada (Artículo)
Título del Evento: 7th IFAC Symposium on Intelligent Autonomous Vehicles (2010)
Fechas del Evento: 06/09/2011 - 08/09/2011
Lugar del Evento: Lecce, Italia
Título del Libro: Proceedings of the 7th IFAC Symposium on Intelligent Autonomous Vehicles (2010)
Fecha: 2010
Materias:
Palabras Clave Informales: mobile robots,robot navigation,optimization,robotic mapping
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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Resumen

Grid maps are a common environment representation in mobile robotics. Many Simultaneous Localization and Mapping (SLAM) solutions divide the global map into submaps, forming some kind of graph or tree to represent the structure of the environment, while the metric details are captured in the submaps. This work presents a novel algorithm that is able to compute a physically feasible relative pose between two overlapping grid maps. Our algorithm can be used for correspondence search (data association), but also for integrating negative information in a unified way. This paper proposes a discrepancy measure between two overlapping grid maps and its application in a quasi Newton optimization algorithm, with the hypothesis that minimizing such discrepancy could provide useful information for SLAM. Experimental evidence is provided showing the high potential of the algorithm.

Más información

ID de Registro: 7917
Identificador DC: http://oa.upm.es/7917/
Identificador OAI: oai:oa.upm.es:7917
URL Oficial: http://www.ifac-papersonline.net/Detailed/43219.html
Depositado por: Memoria Investigacion
Depositado el: 26 Jul 2011 09:29
Ultima Modificación: 20 Abr 2016 16:51
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