Generating Maps of Environments by Observing Routes and Intersections
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- Ochi Akira
- Osaka University
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- Li Shigang
- Hiroshima City University
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- Yagi Yasushi
- Osaka University
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- Yachida Masahiko
- Osaka University
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- Hayashi Akira
- Hiroshima City University
Bibliographic Information
- Other Title
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- 経路と交差点の観測による環境地図の作成
- ケイロ ト コウサテン ノ カンソク ニヨル カンキョウ チズ ノ サクセイ
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Abstract
This paper proposes a method for generating a map of a large scaled environment by observing scenes both along routes and at intersections. Panoramic representation is used for describing route scenes, and the number of routes connecting at an intersection is assumed to he known. A robot can obtain a closed loop by taking the same turn (leftmost for example) at each intersections when it moves along routes. By memorizing routes at intersections, the robot can select unmove routes for finding new closed loops. Further, by fusing new closed loops with found ones, the robot can build the map of environments. The effectiveness and robustness of our method are shown by our experiment in a real-world environment.
Journal
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- IEEJ Transactions on Electronics, Information and Systems
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IEEJ Transactions on Electronics, Information and Systems 118 (4), 510-519, 1998
The Institute of Electrical Engineers of Japan
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Details 詳細情報について
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- CRID
- 1390282679584170624
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- NII Article ID
- 130006843453
- 10002813530
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- NII Book ID
- AN10065950
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- ISSN
- 13488155
- 03854221
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- NDL BIB ID
- 4436280
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed