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A Hierarchical Map Building for SLAM Used in Ruins Environments
Wang N(王楠); Ma SG(马书根); Li B(李斌); Wang MH(王明辉); Zhao MY(赵明扬)
Conference Name11th World Congress on Intelligent Control and Automation (WCICA 2014)
Conference DateJune 29 - July 4, 2014
Conference PlaceShenyang, China
Source PublicationProceeding of the 11th World Congress on Intelligent Control and Automation
Publication PlacePiscataway, NJ, USA
Indexed ByEI ; CPCI(ISTP)
EI Accession number20152600978188
WOS IDWOS:000393066201074
Contribution Rank1
KeywordHierarchical Map Simultaneous Localization And Mapping Map Representation Interior Ruins
AbstractAs to the morphological characteristics of the seismic damage of the interior ruins, this paper presents a map building mechanism by using the analytic hierarchy process and proposes a hierarchical simultaneous localization and mapping (SLAM) algorithm that is based on the hybrid metric-topological map. The architecture of the ruins-oriented SLAM system consists of three layers. In the intermediate layer, the global environment is partitioned on the basis of the spectral clustering that can reduce the computational cost and ensure the global consistency. A semantic map is built in the top layer where the node identification and logic location are included. According to the characteristics of the seismic destruction, an aggregation degree of features is proposed as an identification method for building topological nodes to improve the interactivity. In the bottom layer, details of the morphology of the destruction are described as grid maps that ensure the environmental adaptability. Through experiments, the ability of environmental description and the availability at an artificial ruins environment are verified. 
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Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
3.Department of Robotics, Faculty of Science and Technology, Ritsumeikan University, Kusatsu-Shi, Japan
Recommended Citation
GB/T 7714
Wang N,Ma SG,Li B,et al. A Hierarchical Map Building for SLAM Used in Ruins Environments[C]. Piscataway, NJ, USA:IEEE,2014:1409-1414.
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