Robotic map building by fusing ICP and PSO algorithms

Yin Yu Lu, Chen Chien Hsu, Hua En Chang, Wen Chung Kao

研究成果: 書貢獻/報告類型會議貢獻

2 引文 (Scopus)

摘要

This paper proposes the use of Particle Swarm Optimization (PSO) to work with an Enhanced-ICP to effectively filter out outliers and avoid false matching points during the map building of an unknown environment, where PSO is used to solve the local optima problem to obtain better transformation results for two data sets with excessive difference in initial position and direction. Then, we use part of global map as the reference data set with overlapping points for subsequent data matching. Experimental results show that the proposed algorithm not only solves outlier and noise problems but also reduces false matching points so that it has better alignment and smaller accumulated errors for map building.

原文英語
主出版物標題Proceedings 2014 IEEE 4th International Conference on Consumer Electronics - Berlin, ICCE-Berlin
編輯Francisco J. Bellido, Dietmar Hepper, Hans L. Cycon, Alexander Huhn
發行者IEEE Computer Society
頁面263-265
頁數3
版本February
ISBN(電子)9781479961658
DOIs
出版狀態已發佈 - 2015 二月 5
事件2014 4th IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin - Berlin, 德国
持續時間: 2014 九月 72014 九月 10

出版系列

名字IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin
號碼February
2015-February
ISSN(列印)2166-6814
ISSN(電子)2166-6822

其他

其他2014 4th IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin
國家德国
城市Berlin
期間14/9/714/9/10

指紋

Particle swarm optimization (PSO)
Robotics

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering
  • Media Technology

引用此文

Lu, Y. Y., Hsu, C. C., Chang, H. E., & Kao, W. C. (2015). Robotic map building by fusing ICP and PSO algorithms. 於 F. J. Bellido, D. Hepper, H. L. Cycon, & A. Huhn (編輯), Proceedings 2014 IEEE 4th International Conference on Consumer Electronics - Berlin, ICCE-Berlin (February 編輯, 頁 263-265). [7034273] (IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin; 卷 2015-February, 編號 February). IEEE Computer Society. https://doi.org/10.1109/ICCE-Berlin.2014.7034273

Robotic map building by fusing ICP and PSO algorithms. / Lu, Yin Yu; Hsu, Chen Chien; Chang, Hua En; Kao, Wen Chung.

Proceedings 2014 IEEE 4th International Conference on Consumer Electronics - Berlin, ICCE-Berlin. 編輯 / Francisco J. Bellido; Dietmar Hepper; Hans L. Cycon; Alexander Huhn. February. 編輯 IEEE Computer Society, 2015. p. 263-265 7034273 (IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin; 卷 2015-February, 編號 February).

研究成果: 書貢獻/報告類型會議貢獻

Lu, YY, Hsu, CC, Chang, HE & Kao, WC 2015, Robotic map building by fusing ICP and PSO algorithms. 於 FJ Bellido, D Hepper, HL Cycon & A Huhn (編輯), Proceedings 2014 IEEE 4th International Conference on Consumer Electronics - Berlin, ICCE-Berlin. February edn, 7034273, IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin, 編號 February, 卷 2015-February, IEEE Computer Society, 頁 263-265, 2014 4th IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin, Berlin, 德国, 14/9/7. https://doi.org/10.1109/ICCE-Berlin.2014.7034273
Lu YY, Hsu CC, Chang HE, Kao WC. Robotic map building by fusing ICP and PSO algorithms. 於 Bellido FJ, Hepper D, Cycon HL, Huhn A, 編輯, Proceedings 2014 IEEE 4th International Conference on Consumer Electronics - Berlin, ICCE-Berlin. February 編輯 IEEE Computer Society. 2015. p. 263-265. 7034273. (IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin; February). https://doi.org/10.1109/ICCE-Berlin.2014.7034273
Lu, Yin Yu ; Hsu, Chen Chien ; Chang, Hua En ; Kao, Wen Chung. / Robotic map building by fusing ICP and PSO algorithms. Proceedings 2014 IEEE 4th International Conference on Consumer Electronics - Berlin, ICCE-Berlin. 編輯 / Francisco J. Bellido ; Dietmar Hepper ; Hans L. Cycon ; Alexander Huhn. February. 編輯 IEEE Computer Society, 2015. 頁 263-265 (IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin; February).
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