A hybrid approach to RBPF based SLAM with grid mapping enhanced by line matching

Kuo, Wei-Ti; Tseng, Shih-Huan; Yu, Jia-Yuan; Fu, Li‐Chen

doi:10.1109/iros.2009.5354214

Cited by 16 publications

(18 citation statements)

References 11 publications

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“…In this section, the experimental setup and results of the comparative experiments with respect to MS-RLSM [6] and OTO-ILSM [19] are detailed. We first introduce the public datasets and self-recorded dataset used in the experiments.…”

Section: Methodsmentioning

confidence: 99%

CAE-RLSM: Consistent and Efficient Redundant Line Segment Merging for Online Feature Map Building

Wen

Zhang

Gao

et al. 2020

IEEE Trans. Instrum. Meas.

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In order to obtain a compact line segment-based map representation for localization and planning of mobile robots, it is necessary to merge redundant line segments which physically represent the same part of the environment in different scans. In this work, a consistent and efficient redundant line segment merging approach (CAE-RLSM) is proposed for online feature map building. The proposed CAE-RLSM is composed of two newly proposed modules: one-to-many incremental line segment merging (OTM-ILSM) and multi-processing global map adjustment (MP-GMA). Different from state-of-the-art offline merging approaches, the proposed CAE-RLSM can achieve real-time mapping performance, which not only reduces the redundancy of incremental merging with high efficiency, but also solves the problem of global map adjustment after loop closing to guarantee global consistency. Furthermore, a new correlation-based evaluation metric is proposed for the quality evaluation of line segment maps. This evaluation metric does not require manual measurement of the environmental metric information, instead it makes full use of globally consistent laser scans obtained by simultaneous localization and mapping (SLAM) systems to compare the performance of different line segment-based mapping approaches in an objective and fair manner. Comparative experimental results with respect to a mean shift-based offline redundant line segment merging approach (MS-RLSM) and an offline version of one-to-one incremental line segment merging approach (O 2 TO-ILSM) on both public datasets and self-recorded dataset are presented to show the superior performance of CAE-RLSM in terms of efficiency and map quality in different scenarios.

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Section: Methodsmentioning

confidence: 99%

CAE-RLSM: Consistent and Efficient Redundant Line Segment Merging for Online Feature Map Building

Wen

Zhang

Gao

et al. 2020

IEEE Trans. Instrum. Meas.

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“…For robot's localization and human's position tracking, we adopt the RBPF localization [7] with hybrid detection method.…”

Section: Multi-human Spatial Social Pattern Understanding For a Multimentioning

confidence: 99%

Multi-human spatial social pattern understanding for a multi-modal robot through nonverbal social signals

Tseng

Hsu

Chiang

et al. 2014

The 23rd IEEE International Symposium on Robot and Human Interactive Communication

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For service robots to be able to enter a multi-human office environment, it is important to find a group of human users' social patterns and then to provide a proper service to them in time. Usually, human users' social patterns are represented in terms of nonverbal social signals. In this paper, a new integrated approach on recognizing multi-human social signals is proposed. Specifically, the nonverbal social signals are detected by a laser range finder and a RGB-D camera and are processed to find the multi-human (spatial) social patterns. Those recognized patterns are then applied to human-to-human, human-to-robot or multi-human-to-robot interactive formation. Experimental results shows that our robot successfully recognizes the aforementioned users' social patterns followed by appropriate services.

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“…Using the front laser range finder, we apply the grid-based simultaneous localization and mapping algorithm [8] to get the map of the working environment. Monte-Carlo localization is adopted here.…”

Section: ) Localizationmentioning

confidence: 99%

An interactive robotic walker for assisting elderly mobility in senior care unit

Lam

Chang

et al. 2010

2010 IEEE Workshop on Advanced Robotics and Its Social Impacts

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This paper describes a robotic walker, Johnnie, that provides assistance to mobility-challenged people, especially elderly people. Our walker is modified from a conventional unpowered four-wheel walker by equipping motors, sensors and some safety devices, providing mobility and stability to it. In our software system, we provide two modes: (1) autonomous mode in which the walker can autonomously navigate to the user without collision, and (2) rehabilitation mode in which the walker will assist the elderly to walk safely and smoothly. We have done a preliminary test of the two modes in our lab environment and analyzed the result.

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A hybrid approach to RBPF based SLAM with grid mapping enhanced by line matching

Cited by 16 publications

References 11 publications

CAE-RLSM: Consistent and Efficient Redundant Line Segment Merging for Online Feature Map Building

CAE-RLSM: Consistent and Efficient Redundant Line Segment Merging for Online Feature Map Building

Multi-human spatial social pattern understanding for a multi-modal robot through nonverbal social signals

An interactive robotic walker for assisting elderly mobility in senior care unit

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