TY - GEN
T1 - Map building of uncertain environment based on iterative closest point algorithm on the cloud
AU - Wen, Yi Jou
AU - Hsu, Chen Chien
AU - Wang, Wei Yen
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/4/9
Y1 - 2015/4/9
N2 - 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.
AB - 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.
KW - Iterative Closest Point
KW - Laser Range Finder
KW - Map Building
KW - on the Cloud
UR - http://www.scopus.com/inward/record.url?scp=84929346949&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84929346949&partnerID=8YFLogxK
U2 - 10.1109/ICMECH.2015.7083971
DO - 10.1109/ICMECH.2015.7083971
M3 - Conference contribution
AN - SCOPUS:84929346949
T3 - Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
SP - 188
EP - 190
BT - Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 IEEE International Conference on Mechatronics, ICM 2015
Y2 - 6 March 2015 through 8 March 2015
ER -