基于RPBF-SLAM的占用网格地图创建方法研究

2023 8th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS) Pub Date : 2023-07-07 DOI:10.1109/ACIRS58671.2023.10239753

Zhao Liang, Weiguang Shi, Shenghao Zhou, Junwei Chen

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引用次数: 0

摘要

本文在传统RPBF-SLAM算法的基础上，对粒子采样阶段、重采样阶段和地图构建阶段进行改进，提出了离线网格地图分辨率优化方案，在保证算法实时性的同时提高了地图分辨率。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Research on Occupancy Grid Map Creation Method Based on RPBF-SLAM

In this paper, the traditional RPBF-SLAM algorithm improves the particle sampling stage, resampling stage and map construction stage, and proposes an offline grid map resolution optimization scheme, which improves the map resolution while ensuring the real-time nature of the algorithm.

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来源期刊

2023 8th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS)

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