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作者:

Wang, Ke (Wang, Ke.) | Jia, Songmin (Jia, Songmin.) (学者:贾松敏) | Guo, Bing (Guo, Bing.) | Li, Yuchen (Li, Yuchen.)

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摘要:

Under the structure of robot technology middleware(RTM), this paper presents a distributed method for mobile robot simultaneous localization and mapping(SLAM) to address the problem of 3D modeling in complex indoor environment.We integrate the image feature and depth information to establish the correspondence-based iterative closest point (ICP) algorithm for localizing the robot precisely. With the introduction of keyframe selection mechanism, a vision-based loop closure detect algorithm and tree-based network optimizer(TORO) are used to efficiently achieve globally consistent and accuracy maps during the map building. Experimental results verify the feasibility and effectiveness of the proposed algorithm in the indoor environment. © 2013 IEEE.

关键词:

3D modeling Indoor positioning systems Iterative methods Middleware Mobile robots Resin transfer molding Robotics Three dimensional computer graphics Trees (mathematics)

作者机构:

  • [ 1 ] [Wang, Ke]College of Electronic Information and Control Engineering, Beijing University of Technology, No. 100, Pingleyuan, Chaoyang District, Beijing, China
  • [ 2 ] [Jia, Songmin]College of Electronic Information and Control Engineering, Beijing University of Technology, No. 100, Pingleyuan, Chaoyang District, Beijing, China
  • [ 3 ] [Guo, Bing]College of Electronic Information and Control Engineering, Beijing University of Technology, No. 100, Pingleyuan, Chaoyang District, Beijing, China
  • [ 4 ] [Li, Yuchen]College of Electronic Information and Control Engineering, Beijing University of Technology, No. 100, Pingleyuan, Chaoyang District, Beijing, China

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年份: 2013

页码: 1224-1229

语种: 英文

被引次数:

WoS核心集被引频次: 0

SCOPUS被引频次: 2

ESI高被引论文在榜: 0 展开所有

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