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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- Appears in
Collections - 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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