Simultaneous Localization and Mapping Algorithm for Topological Maps with Dynamics
SCIE
SCOPUS
- Title
- Simultaneous Localization and Mapping Algorithm for Topological Maps with Dynamics
- Authors
- Doh, NL; Kyungmin Lee; Chung, WK; Hunhee Cho
- Date Issued
- 2009-09
- Publisher
- INST ENGINEERING TECHNOLOGY-IET
- Abstract
- A simultaneous localisation and mapping (SLAM) algorithm for topological maps is proposed. Especially, this algorithm deals with a semi-permanent dynamics induced by door opening and closing. To deal with the semi-permanent dynamics, nodes are classified into two types. One is an invariant node that is free from the dynamics, and the other is a variant node that is not affected by door opening and closing. Two different approaches are used at the same time: a quasi-static SLAM for the invariant nodes and a dynamic SLAM for the variant nodes. A gross shape of the given environment is represented by the quasi-static SLAM algorithm, and a detailed shape of the environment is revealed via the dynamic SLAM. Experimental results validate that the proposed algorithm produces a topologically consistent map under the semi-permanent dynamics.
- Keywords
- VORONOI GRAPH; ROBOTS; SLAM
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/27625
- DOI
- 10.1049/IET-CTA.2008.0254
- ISSN
- 1751-8644
- Article Type
- Article
- Citation
- IET CONTROL THEORY AND APPLICATIONS, vol. 3, no. 9, page. 1249 - 1260, 2009-09
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