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Simultaneous localisation and mapping algorithm for topological maps with dynamics

Authors
Doh, N. L.Lee, K.Chung, W. K.Cho, H.
Issue Date
9월-2009
Publisher
INST ENGINEERING TECHNOLOGY-IET
Citation
IET CONTROL THEORY AND APPLICATIONS, v.3, no.9, pp.1249 - 1260
Indexed
SCIE
SCOPUS
Journal Title
IET CONTROL THEORY AND APPLICATIONS
Volume
3
Number
9
Start Page
1249
End Page
1260
URI
https://scholar.korea.ac.kr/handle/2021.sw.korea/119420
DOI
10.1049/iet-cta.2008.0254
ISSN
1751-8644
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.
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Executive Vice President for Research > Institute of Convergence Science > 1. Journal Articles
College of Engineering > School of Civil, Environmental and Architectural Engineering > 1. Journal Articles

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Cho, Hun Hee
공과대학 (건축사회환경공학부)
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