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Building maps of large environments using splines and geometric analysis
Citation
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.
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 |
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| Author/s: |
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| 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 |
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 |
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| DC Identifier: | https://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 |
