Map building of uncertain environment based on iterative closest point algorithm on the cloud

研究成果: 書貢獻/報告類型會議論文篇章

1 引文 斯高帕斯(Scopus)

摘要

The Iterative Closest Point (ICP) algorithm is to align for the two point sets, which is widely used in map building of an uncertain environment. However, the original ICP algorithm is easily affected by noise and discrete points, making the error of alignment very large. At the same time, in a row scanning by the Laser Range Finder (LRF), the more data points accumulate, the larger the errors of alignment become, which leads to an unpreferable map, and the process would be time consuming. This paper proposes a map building of an uncertain environment based on an enhanced ICP (E-ICP) algorithm on the cloud, called E-ICP on the cloud, and presented a way to reduce duplicate reference point set. Thus, one can significantly reduce the computational burden, improve the accuracy of alignment, and get a more accurate environmental map.

原文英語
主出版物標題Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
發行者Institute of Electrical and Electronics Engineers Inc.
頁面188-190
頁數3
ISBN(電子)9781479936335
DOIs
出版狀態已發佈 - 2015 四月 9
事件2015 IEEE International Conference on Mechatronics, ICM 2015 - Nagoya, 日本
持續時間: 2015 三月 62015 三月 8

出版系列

名字Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015

其他

其他2015 IEEE International Conference on Mechatronics, ICM 2015
國家/地區日本
城市Nagoya
期間2015/03/062015/03/08

ASJC Scopus subject areas

  • 電氣與電子工程
  • 機械工業

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