کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
412862 | 679686 | 2006 | 13 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Building geometric feature based maps for indoor service robots
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
هوش مصنوعی
پیش نمایش صفحه اول مقاله
![عکس صفحه اول مقاله: Building geometric feature based maps for indoor service robots Building geometric feature based maps for indoor service robots](/preview/png/412862.png)
چکیده انگلیسی
This paper presents an efficient geometric approach to the Simultaneous Localization and Mapping problem based on an Extended Kalman Filter. The map representation and building process is formulated, fully implemented and successfully experimented in different indoor environments with different robots. The use of orthogonal shape constraints is proposed to deal with the inconsistency of the estimation. Built maps are successfully used for the navigation of two different service robots: an interactive tour guide robot, and an assistive walking aid for the frail elderly.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 54, Issue 7, 31 July 2006, Pages 546–558
Journal: Robotics and Autonomous Systems - Volume 54, Issue 7, 31 July 2006, Pages 546–558
نویسندگان
Diego Rodriguez-Losada, Fernando Matia, Ramon Galan,