Simultaneous localisation and mapping algorithm for topological maps with dynamics
DC Field | Value | Language |
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dc.contributor.author | Doh, N. L. | - |
dc.contributor.author | Lee, K. | - |
dc.contributor.author | Chung, W. K. | - |
dc.contributor.author | Cho, H. | - |
dc.date.accessioned | 2021-09-08T14:01:12Z | - |
dc.date.available | 2021-09-08T14:01:12Z | - |
dc.date.created | 2021-06-10 | - |
dc.date.issued | 2009-09 | - |
dc.identifier.issn | 1751-8644 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/119420 | - |
dc.description.abstract | A simultaneous localisation and mapping (SLAM) algorithm for topological maps is proposed. Especially, this algorithm deals with a semi-permanent dynamics induced by door opening and closing. To deal with the semi-permanent dynamics, nodes are classified into two types. One is an invariant node that is free from the dynamics, and the other is a variant node that is not affected by door opening and closing. Two different approaches are used at the same time: a quasi-static SLAM for the invariant nodes and a dynamic SLAM for the variant nodes. A gross shape of the given environment is represented by the quasi-static SLAM algorithm, and a detailed shape of the environment is revealed via the dynamic SLAM. Experimental results validate that the proposed algorithm produces a topologically consistent map under the semi-permanent dynamics. | - |
dc.language | English | - |
dc.language.iso | en | - |
dc.publisher | INST ENGINEERING TECHNOLOGY-IET | - |
dc.title | Simultaneous localisation and mapping algorithm for topological maps with dynamics | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Doh, N. L. | - |
dc.contributor.affiliatedAuthor | Cho, H. | - |
dc.identifier.doi | 10.1049/iet-cta.2008.0254 | - |
dc.identifier.scopusid | 2-s2.0-70049088446 | - |
dc.identifier.wosid | 000269620400010 | - |
dc.identifier.bibliographicCitation | IET CONTROL THEORY AND APPLICATIONS, v.3, no.9, pp.1249 - 1260 | - |
dc.relation.isPartOf | IET CONTROL THEORY AND APPLICATIONS | - |
dc.citation.title | IET CONTROL THEORY AND APPLICATIONS | - |
dc.citation.volume | 3 | - |
dc.citation.number | 9 | - |
dc.citation.startPage | 1249 | - |
dc.citation.endPage | 1260 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.description.journalClass | 1 | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Automation & Control Systems | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalResearchArea | Instruments & Instrumentation | - |
dc.relation.journalWebOfScienceCategory | Automation & Control Systems | - |
dc.relation.journalWebOfScienceCategory | Engineering, Electrical & Electronic | - |
dc.relation.journalWebOfScienceCategory | Instruments & Instrumentation | - |
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