LSH-RANSAC : Incremental Matching of Large-Size Maps
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概要
- 論文の詳細を見る
This paper presents a novel approach for robot localization using landmark maps. With recent progress in SLAM researches, it has become crucial for a robot to obtain and use large-size maps that are incrementally built by other mapper robots. Our localization approach successfully works with such incremental and large-size maps. In literature, RANSAC map-matching has been a promising approach for large-size maps. We extend the RANSAC map-matching so as to deal with incremental maps. We combine the incremental RANSAC with an incremental LSH database and develop a hybrid of the position-based and the appearance-based approaches. A series of experiments using radish dataset show promising results.
- （社）電子情報通信学会の論文
- 2010-02-01
著者
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SAEKI Ken-ichi
Faculty of Pharmaceutical Sciences, Nagoya City University
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TANAKA Kanji
Faculty of Department of Mechanical Science and Engineering, Graduate School of Engineering, Kyushu
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Tanaka Kanji
Faculty Of Department Of Mechanical Science And Engineering Graduate School Of Engineering Kyushu Un
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Tanaka Kanji
Faculty Of Engineering University Of Fukui
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Saeki Ken-ichi
Faculty Of Engineering University Of Fukui
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MINAMI Mamoru
Faculty of Engineering, Fukui University
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Minami Mamoru
Faculty Of Engineering Fukui University
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Minami Mamoru
Faculty Of Engineering University Of Fukui
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UEDA Takeshi
Faculty of Engineering, Kyushu University
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Ueda Takeshi
Faculty Of Engineering Kyushu University
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Tanaka Kanji
Fac. Of Engineering Univ. Of Fukui
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