1P1-L12 改良型RANSACマップマッチングに基づく辞書式地図圧縮(移動ロボットのための視覚)

概要

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Obtaining a compact representation of a large-size map built by mapper robots is a critical issue for recent SLAM applications. This map compression problem is explored from a novel perspective of lossless data compression in the paper. The primary contribution of the paper is proposal of an efficient dictionary-based map compression approach employing RANSAC map-matching techniques. We also present several efficient schemes by using preepmtive RANSAC as well as computational efficiency.
一般社団法人日本機械学会の論文
2011-05-26