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- Ravankar Ankit A.
- Hokkaido University
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- Ravankar Abhijeet
- Kitami Institute of Technology
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- Emaru Takanori
- Hokkaido University
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- Kobayashi Yukinori
- Hokkaido University
抄録
<p>In this paper, we present a hybrid feature based mapping for robots operating in indoor environments. We combine environment features such as line segments and corners to construct 2D map for the purpose of robot navigation. Our method uses an extended Kalman filter algorithm for fusing the hybrid features into a single feature map. The proposed method works very well in different indoor scenarios with varying level of obstacles and provide feature rich map for the purpose of autonomous robot navigation. The algorithms in the present work is tested in simulation and real environments.</p>
収録刊行物
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- ロボティクス・メカトロニクス講演会講演概要集
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ロボティクス・メカトロニクス講演会講演概要集 2020 (0), 2P2-I07-, 2020
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
- 1391975276382402048
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- NII論文ID
- 130007944496
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- ISSN
- 24243124
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- 本文言語コード
- en
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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