書誌事項
- タイトル別名
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- MAPPING WITH ACCURATE ABSOLUTE POSITIONS USING GRAPH-BASED SLAM WITH CONSTRAINTS BASED ON MATCHING OF 2D-SCAN DATA AND FLOOR PLANS
抄録
In simultaneous localization and mapping (SLAM), map distortions usually appear owing to the accumulation of pose estimation errors. Loop closure is known as one of the major solutions to this problem. However, the errors still remain when using loop closure because it only uses the constraints of the relative pose of nodes for error correction. Therefore, the authors focused on that the environment is accurately represented in architectural floor plans and proposed a method using the floor plans to correct the absolute pose of the nodes. This method adds absolute pose constraints estimated from the floor plan to the pose graph in graph-based SLAM. It optimizes the graph so that the map is built to align with the floor plan. In this study, we evaluate the effectiveness of the method by comparing it with a conventional SLAM with loop closure by a simulation experiment. The results show that the proposed method can improve the map accuracy and reduce computational costs compared to the conventional method.
収録刊行物
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- 法政大学大学院紀要. 理工学研究科編
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法政大学大学院紀要. 理工学研究科編 63 1-3, 2022-03-24
法政大学大学院理工学研究科
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詳細情報 詳細情報について
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- CRID
- 1390011540582396800
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- HANDLE
- 10114/00025350
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- ISSN
- 24368083
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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
- IRDB
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- 抄録ライセンスフラグ
- 使用可