RG制图:学习室内环境紧凑、结构化的二维线形图

Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication Pub Date : 2002-12-10 DOI:10.1109/ROMAN.2002.1045636

D. Schroter, M. Beetz, Jens-Steffen Gutmann

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引用次数: 22

摘要

在本文中，我们提出了区域和网关(RG)映射，这是一种基于激光的室内环境二维线映射的新方法。RG映射能够获得非常紧凑、结构化和语义注释的映射。基于自主移动机器人的地图采集实验，提出并实证分析了该方法。实验表明，RG映射极大地压缩了线扫描图中包含的数据，而没有明显的精度损失。

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RG mapping: learning compact and structured 2D line maps of indoor environments

In this paper we present region and gateway (RG) mapping, a novel approach to laser-based 2D line mapping of indoor environments. RG mapping is capable of acquiring very compact, structured, and semantically annotated maps. We present and empirically analyze the method based on map acquisition experiments with autonomous mobile robots. The experiments show that RG mapping drastically compresses the data contained in line scan maps without substantial loss of accuracy.

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Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication

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