抄録
This paper presents a method of building a structured map which consists of objects such as furniture. We represent a map as a graph, in which a node represents an object and an arc represents a relative pose between objects. The robot localizes itself and builds a map using odometry readings and sensor data obtained by object recognition. To correct the map distortion caused by errors in the data, the robot utilizes loops as geometric constraints, and imports geometric knowledge provided by a hand-made map. Experiments show that the robot successfully built a map of corridors, and a map of a room having many objects.
| 本文言語 | English |
|---|---|
| ページ（範囲） | 862-867 |
| ページ数 | 6 |
| ジャーナル | Proceedings - IEEE International Conference on Robotics and Automation |
| 巻 | 1 |
| 出版ステータス | Published - 2003 12月 9 |
| イベント | 2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China 継続期間: 2003 9月 14 → 2003 9月 19 |
ASJC Scopus subject areas
- ソフトウェア
- 制御およびシステム工学
- 人工知能
- 電子工学および電気工学