A new hierarchical simultaneous localization and mapping method based on local shape context of environment

Author

Ronghua Luo ; Huaqing Min ; Yan Shao

Author_Institution

Dept. of Comput. Sci. & Eng., South China Univ. of Technol., Guangzhou, China

Volume

3

fYear

2010

fDate

11-14 July 2010

Firstpage

1544

Lastpage

1549

Abstract

A new kind of local shape context (LSC) is proposed for hierarchical simultaneous localization and mapping (HSLAM) by taking account of the features of information from laser range Ander. In the process of HSLAM, LSC is used to incrementally segment the map that has been created into topological node. And at the same time an active loop closing method for HSLAM is proposed based on the information of LSC. Experiments are carried out with the robot designed by our lab and the experimental results prove that our method performs well for map building in large environments.

Keywords

SLAM (robots); laser ranging; mobile robots; shape recognition; active loop closing method; hierarchical simultaneous localization and mapping method; laser range finder; local shape context; robot; Buildings; Silicon; Simultaneous localization and mapping; active loop closing; hierarchical map representation; local shape context; simultaneous localization and mapping;

fLanguage

English

Publisher

ieee

Conference_Titel

Machine Learning and Cybernetics (ICMLC), 2010 International Conference on

Conference_Location

Qingdao

Print_ISBN

978-1-4244-6526-2

Type

conf

DOI

10.1109/ICMLC.2010.5580817

Filename

5580817