Research on mapping technology of laser navigation robot without reflector

In view of the problems existing in the construction of large sparse environment map for laser navigation robot without reflector, an incremental SLAM algorithm based on multistage ICP matching is proposed. This method constructs a new image according to the pose of the robot, and develops a regiona...

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Vydáno v:Journal of physics. Conference series Ročník 1684; číslo 1; s. 12096 - 12102
Hlavní autoři: Haiying, Zhang, Shengming, Liu, Zhiying, Jiang
Médium: Journal Article
Jazyk:angličtina
Vydáno: Bristol IOP Publishing 01.11.2020
Témata:
Algorithms
Error reduction
Laser guidance
Mapping
Optimization
Physics
Regional development
Robots
ISSN:1742-6588, 1742-6596
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Abstract In view of the problems existing in the construction of large sparse environment map for laser navigation robot without reflector, an incremental SLAM algorithm based on multistage ICP matching is proposed. This method constructs a new image according to the pose of the robot, and develops a regional closed-loop algorithm combined with incremental optimization method based on the graph optimization algorithm. Experimental results show that due to the low amount of environmental information, the algorithm can effectively avoid falling into local minima, eliminate the cumulative error of mapping, reduce the computational complexity, and realize accurate mapping and real-time application.
AbstractList In view of the problems existing in the construction of large sparse environment map for laser navigation robot without reflector, an incremental SLAM algorithm based on multistage ICP matching is proposed. This method constructs a new image according to the pose of the robot, and develops a regional closed-loop algorithm combined with incremental optimization method based on the graph optimization algorithm. Experimental results show that due to the low amount of environmental information, the algorithm can effectively avoid falling into local minima, eliminate the cumulative error of mapping, reduce the computational complexity, and realize accurate mapping and real-time application.
Author Zhiying, Jiang
Haiying, Zhang
Shengming, Liu
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Cites_doi 10.5772/61240
10.1002/rob.20209
10.1017/S0263574714000940
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SubjectTerms Algorithms
Error reduction
Laser guidance
Mapping
Optimization
Physics
Regional development
Robots
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