Simultaneous Localization and Mapping Based on the Hybrid Metric-Topological Map in the Ruins Environment
WANG Nan1,2, MA Shugen1 3, LI Bin1, WANG Minghui1, ZHAO Mingyang1
1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
2. University of Chinese Academy of Sciences, Beijing 100049, China;
3. Department of Technology, Ritsumeikan University, Kusatsu-Shi 525-8577, Japan
王楠, 马书根, 李斌, 王明辉, 赵明扬. 基于拓扑米制混合地图的废墟环境同步定位与地图创建[J]. 机器人, 2013, 35(6): 762-768.DOI: 10.3724/SP.J.1218.2013.00762.
WANG Nan, MA Shugen, LI Bin, WANG Minghui, ZHAO Mingyang. Simultaneous Localization and Mapping Based on the Hybrid Metric-Topological Map in the Ruins Environment. ROBOT, 2013, 35(6): 762-768. DOI: 10.3724/SP.J.1218.2013.00762.
A map representation method with an effective map building mechanism for representation of ruins environments is presented. Based on the hybrid metric-topological map representation, the ruins environment is described at different levels, according to the morphological characteristics in the interior of ruins environments after a seismic disaster. The whole environment is described on the basis of the global topological map, to ensure the system computing capability, ambient adaptability and friendly interaction, while building a local metric map at each topological node region, to represent clearly the irregular obstacle formed by a destructive pattern. The experiments in an artificial ruins environment demonstrate that the method can realize the simultaneous localization and mapping in complex environment, which indicates the feasibility and validity of the algorithm in practical search and rescue fields.
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