文章基本信息

标题：Interactive mapping using range sensor data under localization uncertainty
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作者：Pedro Vieira ; Rodrigo Ventura
期刊名称：Journal of Automation, Mobile Robotics & Intelligent Systems (JAMRIS)
印刷版ISSN：1897-8649
电子版ISSN：2080-2145
出版年度：2013
卷号：7
期号：1
页码：47
出版社：Industrial Research Inst. for Automation and Measurements, Warsaw
摘要：Several methods have been proposed in the literature to ad- dress the problem of automatic mapping by a robot using range scan data, under localization uncertainty. Most scan matching methods rely on the minimization of the matching error among individual range scans. However, uncertainty in sensor data often leads to erroneous matching, hard to cope with in a purely automatic approach. This paper proposes a semi-automatic approach, denoted interactive mapping, involving a human operator in the process of detecting and correcting erroneous matches. Instead of al- lowing the operator complete freedom in correcting the matching in a frame by frame basis, the proposed method facilitates the adjustment along the directions with more ambiguity, while constraining the others. Experimental results using LIDAR data are presented to validate empiri- cally the approach, together with a preliminary user study to evaluate the benefits of the approach.
关键词：2D mapping; interactive interface; ICP; geo- ; metric constraint analysis; iterative methods