کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
413474 | 680517 | 2010 | 8 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Entropy based robust estimator and its application to line-based mapping
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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: Entropy based robust estimator and its application to line-based mapping Entropy based robust estimator and its application to line-based mapping](/preview/png/413474.png)
چکیده انگلیسی
This paper presents a robust mapping algorithm for an application in autonomous robots. The method is inspired by the notion of entropy from information theory. A kernel density estimator is adopted to estimate the appearance probability of samples directly from the data. An Entropy Based Robust (EBR) estimator is then designed that selects the most reliable inliers of the line segments. The inliers maintained by the entropy filter are those samples that carry more information. Hence, the parameters extracted from EBR estimator are accurate and robust to the outliers. The performance of the EBR estimator is illustrated by comparing the results with the performance of three other estimators via simulated and real data.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 58, Issue 5, 31 May 2010, Pages 566–573
Journal: Robotics and Autonomous Systems - Volume 58, Issue 5, 31 May 2010, Pages 566–573
نویسندگان
Yan Liu, Xinzheng Zhang, Ahmad B. Rad, Xuemei Ren, Yiu-Kwong Wong,