Object-based localization and mapping using loop constraints and geometric prior knowledge

Masahiro Tomono, Shin'ichi Yuta

研究成果: Conference article査読

24 被引用数 (Scopus)

抄録

This paper presents a method of building a structured map which consists of objects such as furniture. We represent a map as a graph, in which a node represents an object and an arc represents a relative pose between objects. The robot localizes itself and builds a map using odometry readings and sensor data obtained by object recognition. To correct the map distortion caused by errors in the data, the robot utilizes loops as geometric constraints, and imports geometric knowledge provided by a hand-made map. Experiments show that the robot successfully built a map of corridors, and a map of a room having many objects.

本文言語English
ページ(範囲)862-867
ページ数6
ジャーナルProceedings - IEEE International Conference on Robotics and Automation
1
出版ステータスPublished - 2003 12 9
イベント2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
継続期間: 2003 9 142003 9 19

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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