FastSLAM在二维室内定位与制图中的应用

2016 International Conference on Control, Electronics, Renewable Energy and Communications (ICCEREC) Pub Date : 2016-09-01 DOI:10.1109/ICCEREC.2016.7814992

M. Amanda, A. N. Jati, U. Sunarya

{"title":"FastSLAM在二维室内定位与制图中的应用","authors":"M. Amanda, A. N. Jati, U. Sunarya","doi":"10.1109/ICCEREC.2016.7814992","DOIUrl":null,"url":null,"abstract":"This research is purposed to evaluate the exploration of an unknown environment using FastSLAM for virtual mobile robot. Mapping and localization can be done simultaneously by FastSLAM algorithm. FastSLAM is an alternative to solve the previous algorithm - SLAM. The result obtained by simulating the virtual robot for mapping and localization using FastSLAM and RANSAC (Random Sampling Consensus) for its feature extraction. In order to describe the performances of FastSLAM and provides insight of weaknesses and strength of this algorithm.","PeriodicalId":431878,"journal":{"name":"2016 International Conference on Control, Electronics, Renewable Energy and Communications (ICCEREC)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"An evaluation of 2D indoor localization and mapping using FastSLAM\",\"authors\":\"M. Amanda, A. N. Jati, U. Sunarya\",\"doi\":\"10.1109/ICCEREC.2016.7814992\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This research is purposed to evaluate the exploration of an unknown environment using FastSLAM for virtual mobile robot. Mapping and localization can be done simultaneously by FastSLAM algorithm. FastSLAM is an alternative to solve the previous algorithm - SLAM. The result obtained by simulating the virtual robot for mapping and localization using FastSLAM and RANSAC (Random Sampling Consensus) for its feature extraction. In order to describe the performances of FastSLAM and provides insight of weaknesses and strength of this algorithm.\",\"PeriodicalId\":431878,\"journal\":{\"name\":\"2016 International Conference on Control, Electronics, Renewable Energy and Communications (ICCEREC)\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2016-09-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2016 International Conference on Control, Electronics, Renewable Energy and Communications (ICCEREC)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICCEREC.2016.7814992\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2016 International Conference on Control, Electronics, Renewable Energy and Communications (ICCEREC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICCEREC.2016.7814992","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 1

摘要

本研究旨在评估基于FastSLAM的虚拟移动机器人对未知环境的探索。FastSLAM算法可以同时完成地图绘制和定位。FastSLAM是解决之前的SLAM算法的一种替代方案。利用FastSLAM和RANSAC (Random Sampling Consensus)对其特征提取，模拟虚拟机器人进行测绘和定位得到的结果。为了描述FastSLAM的性能，并提供该算法的弱点和长处的洞察力。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

An evaluation of 2D indoor localization and mapping using FastSLAM

This research is purposed to evaluate the exploration of an unknown environment using FastSLAM for virtual mobile robot. Mapping and localization can be done simultaneously by FastSLAM algorithm. FastSLAM is an alternative to solve the previous algorithm - SLAM. The result obtained by simulating the virtual robot for mapping and localization using FastSLAM and RANSAC (Random Sampling Consensus) for its feature extraction. In order to describe the performances of FastSLAM and provides insight of weaknesses and strength of this algorithm.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

2016 International Conference on Control, Electronics, Renewable Energy and Communications (ICCEREC)

自引率

0.00%

发文量