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Slam estimation in dynamic outdoor environments
http://hdl.handle.net/2298/16830
http://hdl.handle.net/2298/168301e496fe1-833c-4bc6-96aa-5275255d3f11
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
IJHR-Lu-1_r.pdf (2.1 MB)
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| Item type | 学術雑誌論文 / Journal Article(1) | |||||
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| 公開日 | 2010-11-12 | |||||
| タイトル | ||||||
| タイトル | Slam estimation in dynamic outdoor environments | |||||
| 言語 | ||||||
| 言語 | eng | |||||
| キーワード | ||||||
| 主題 | SLAM, occupancy grid, localization, monocular, stereovision, lidar | |||||
| 資源タイプ | ||||||
| 資源タイプ | journal article | |||||
| 著者 |
Lu, Zheyuan
× Lu, Zheyuan× Hu, Zhencheng× 内村, 圭一 |
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| 内容記述 | ||||||
| 内容記述 | This paper describes and compares three different approaches to estimate simultaneous localization and mapping (SLAM) in dynamic outdoor environments. SLAM has been intensively researched in recent years in the field of robotics and intelligent vehicles, many approaches have been proposed including occupancy grid mapping method (Bayesian, Dempster-Shafer and Fuzzy Logic), Localization estimation method (edge or point features based direct scan matching techniques, probabilistic likelihood, EKF, particle filter). In this paper, a number of promising approaches and recent developments in this literature have been reviewed firstly in this paper. However, SLAM estimation in dynamic outdoor environments has been a difficult task since numerous moving objects exist which may cause bias in feature selection problem. In this paper, we proposed a possibilistic SLAM with RANSAC approach and implemented with three different matching algorithms. Real outdoor experimental result shows the effectiveness and efficiency of our approach. | |||||
| 書誌情報 |
International Journal of Humanoid Robotics 巻 7, 号 2(2010), p. 315-330, 発行年 2010-06 |
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| DOI | ||||||
| 関連タイプ | isVersionOf | |||||
| 関連識別子 | https://doi.org/10.1142/S021984361000212X | |||||
| 権利 | ||||||
| 権利情報 | © 2010 World Scientific Publishing Co. | |||||
| 情報源(ISSN) | ||||||
| 関連名称 | 02198436 | |||||
| フォーマット | ||||||
| 内容記述タイプ | Other | |||||
| 内容記述 | application/pdf | |||||
| 形態 | ||||||
| 2131878 bytes | ||||||
| 著者版フラグ | ||||||
| 出版タイプ | AM | |||||
| 日本十進分類法 | ||||||
| 主題Scheme | NDC | |||||
| 主題 | 547 | |||||
| 出版者 | ||||||
| 出版者 | World Scientific Publishing | |||||
| 資源タイプ | ||||||
| 内容記述タイプ | Other | |||||
| 内容記述 | 論文(Article) | |||||
| 資源タイプ・ローカル | ||||||
| 雑誌掲載論文 | ||||||
| 資源タイプ・NII | ||||||
| Journal Article | ||||||
| 資源タイプ・DCMI | ||||||
| text | ||||||
| 資源タイプ・ローカル表示コード | ||||||
| 01 | ||||||
