On registration of vector maps with known correspondences
Loading...
Date
2019-09-01
Authors
ORCID
Advisor
Referee
Mark
Journal Title
Journal ISSN
Volume Title
Publisher
VSB-Technical University of Ostrava
Altmetrics
Abstract
Data association and registration is an important and actively researched topic in robotics. This paper deals with registration of two sets of line segments, which is especially useful in mapping applications. Our method is non-iterative, finding an optimal transformation in a single step, in a time proportional only to a number of the corresponding line segments. The procedure also provides diagnostic measures of reliability of the computation and of similarity of the data sets being registered. At this point, the method presumes known correspondences, which is limiting, but the discussion, in the end, reveals some possibilities to overcome this issue. Practical properties are demonstrated on a typical task of localization of a robot with a known map.
Description
Citation
Advances in Electrical and Electronic Engineering - intenetový časopis (http://advances.utc.sk). 2019, vol. 17, issue 3, p. 330-342.
http://advances.utc.sk/index.php/AEEE/article/view/3451
http://advances.utc.sk/index.php/AEEE/article/view/3451
Document type
Peer-reviewed
Document version
Published version
Date of access to the full text
Language of document
en