한국정밀공학회:학술대회논문집 (Proceedings of the Korean Society of Precision Engineering Conference)
- 한국정밀공학회 2004년도 추계학술대회 논문집
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- Pages.1496-1499
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- 2004
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- 2005-8446(pISSN)
그리드지도의 방향정보 이용한 형상지도형성
Feature Map Construction using Orientation Information in a Grid Map
초록
The paper persents an efficient method of extracting line segment in a grid map. The grid map is composed of 2-D grids that have both the occupancy and orientation probabilities based on the simplified Bayesian updating model. The probabilities and orientations of cells in the grid map are continuously updated while the robot explorers to their values. The line segments are, then, extracted from the clusters using Hough transform methods. The eng points of a line segment are evaluated from the cells in each cluster, which is simple and efficient comparing to existing methods. The proposed methods are illustrated by sets of experiments in an indoor environment.
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