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Provedor de dados:  InTech
País:  N/A
Título:  Force Field Simulation Based Laser Scan Alignment
Autores:  Rolf Lakaemper
Nagesh Adluru
Data:  2008-05-01
Ano:  2008
Palavras-chave:  Recent Advances in Multi Robot Systems
Resumo:  We presented a new approach to the problem of multi robot mapping under the constraints given in rescue scenarios. It does not rely on odometry i.e. the relative pose between the robots is unknown. It also can deal with the problem of extremely minimal overlap. Experiments conducted on a real data set of a disaster area from NIST shows the performance of the FFS approach under these complicated constraints and proved its applicability to the problem of multi robot mapping, they also proved the excellent performance of the algorithm correcting effects from wrong pre alignment. The future work will mainly focus on detection of higher level features: the modeling of the correspondence function with respect to the masses opens different ways to interface to mid level modules. The approach is easily extendable to 3D, a report about the performance of an implementation of the 3D FFS is the topic of a forthcoming paper.
Tipo:  3
Idioma:  Inglês
Identificador:  http://www.intechopen.com/articles/show/title/force_field_simulation_based_laser_scan_alignment
Editor:  INTECH Open Access Publisher
Relação:  ISBN:978-3-902613-24-0
Fonte:  http://www.intechopen.com/download/pdf/pdfs_id/874
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