書誌事項
- タイトル別名
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- High Resolution Grid Map with Normal Distribution Transform Algorithm
説明
A new convergence calculation method of the Normal Distributions Transform (NDT) scan matching for high resolution of grid maps is proposed. NDT scan matching algorithm usually has a good effect on large grids, so it is difficult to generate the detailed map with small grids. The proposed method employs Interactive Closest Point(ICP) algorithm to find corresponding point, and it also enlarges the convergence area by modifying the eigenvalue of normal distribution so that the evaluation value is driven effectively for the pairing data. In addition, outlier elimination process is implemented to the scanning for sub-grid scale objects. The scanning data from Laser Range Finder(LRF) have error but its set of detected small objects can be clustered to determine the Center of Mass(CoM) and the outlier data. The outlier commonly locates behind true points and it can be eliminated when the robot observes from other points. Experimental result shows the effectiveness of the proposed convergence algorithm and the outlier elimination method.
収録刊行物
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- 日本機械学会論文集Ｃ編
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日本機械学会論文集Ｃ編 78 (793), 3186-3201, 2012
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390001206386470656
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- NII論文ID
- 130002051559
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- ISSN
- 18848354
- 03875024
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可
