지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2011.6
- 수록면
- 189 - 196 (8page)
이용수
초록· 키워드
오류제보하기
This paper presents a method of topological modeling using only low-cost sonar sensors. The proposed method constructs a topological model by extracting sub-regions from the local grid map. The extracted sub-regions are considered as nodes in the topological model, and the corresponding edges are generated according to the connectivity between two sub-regions. A grid confidence for each occupied grid is evaluated to obtain reliable regions in the local grid map by filtering out noisy data. Moreover, a convexity measure is used to extract sub-regions automatically. Through these processes, the topological model is constructed without predefining the number of sub-regions in advance and the proposed method guarantees the convexity of extracted sub-regions. Unlike previous topological modeling methods which are appropriate to the corridor-like environment, the proposed method can give a reliable topological modeling in a home environment even under the noisy sonar data. The performance of the proposed method is verified by experimental results in a real home environment.
목차
Abstract
1. 서론
2. 초기 그래프 모델 작성
3. 세부 영역 추출 기법
4. 실험 결과
5. 결론
참고문헌
참고문헌 (20)
참고문헌 신청
1. [단행본] - S. Thrun / 2002 / Robotic mapping: a survey, in Exploring Artificial Intelligence in the New Millenium / Morgan Kaufmann
2. [학술지(정기간행물)] - A. Elfes / 1989 / Using Occupancy Grids for Mobile Robot Perception and Navigation / IEEE Computer 22 (6) : 46 ~ 57
3. [학술대회논문] - J. J. Leonard / 1991 / Simultaneous Map Building and Localization for an Autonomous Mobile Robot / Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems : 1442 ~ 1447
4. [학술지(정기간행물)] - H. Choset / 2001 / Topological Simultaneous Localization and Mapping (SLAM): Toward Exact Localization without Explicit Localization / IEEE Transactions on Robotics and Automation 17 (2) : 125 ~ 137
5. [학술지(정기간행물)] - T. B. Kwon / 2008 / Real-time building of a thinning-based topological map / Intelligent Service Robotics 1 (3) : 211 ~ 220
2. [학술지(정기간행물)] - A. Elfes / 1989 / Using Occupancy Grids for Mobile Robot Perception and Navigation / IEEE Computer 22 (6) : 46 ~ 57
3. [학술대회논문] - J. J. Leonard / 1991 / Simultaneous Map Building and Localization for an Autonomous Mobile Robot / Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems : 1442 ~ 1447
4. [학술지(정기간행물)] - H. Choset / 2001 / Topological Simultaneous Localization and Mapping (SLAM): Toward Exact Localization without Explicit Localization / IEEE Transactions on Robotics and Automation 17 (2) : 125 ~ 137
5. [학술지(정기간행물)] - T. B. Kwon / 2008 / Real-time building of a thinning-based topological map / Intelligent Service Robotics 1 (3) : 211 ~ 220
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UCI(KEPA) : I410-ECN-0101-2020-559-001259332