@inproceedings{eed0b2c63fca44df84b46a02c7d4b715,
title = "Robotic map building by fusing ICP and PSO algorithms",
abstract = "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.",
keywords = "Iterative Closest Point, Map Building, Mobile Robot, Particle Swarm Optimization",
author = "Lu, {Yin Yu} and Hsu, {Chen Chien} and Chang, {Hua En} and Kao, {Wen Chung}",
note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 4th IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin ; Conference date: 07-09-2014 Through 10-09-2014",
year = "2015",
month = feb,
day = "5",
doi = "10.1109/ICCE-Berlin.2014.7034273",
language = "English",
series = "IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin",
publisher = "IEEE Computer Society",
number = "February",
pages = "263--265",
editor = "Bellido, {Francisco J.} and Dietmar Hepper and Cycon, {Hans L.} and Alexander Huhn",
booktitle = "Proceedings 2014 IEEE 4th International Conference on Consumer Electronics - Berlin, ICCE-Berlin",
edition = "February",
}