서지주요정보
인식기반 계층적 지도 작성 및 자기위치 추정 = Recognition based hierarchical mapping and localization
서명 / 저자 인식기반 계층적 지도 작성 및 자기위치 추정 = Recognition based hierarchical mapping and localization / 박채훈.
저자명 박채훈 ; Park, Chae-Hoon
발행사항 [대전 : 한국과학기술원, 2007].
Online Access 원문보기 원문인쇄

소장정보

등록번호

8018372

소장위치/청구기호

학술문화관(문화관) 보존서고

MEE 07038

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초록정보

In this thesis, we introduce a novel map representation that combines object identity with metric information for convenient human-robot interaction. Previous point-based maps provide good metric information. This map representation, however, is illegible for human users because it is hard to conceive a characteristic object from a cloud of points. And the point-based representation, necessarily, involves in an exhaustive Markov search for localization due to the weak distinctiveness of the points. Moreover the number of landmarks in the map increases linearly even when a robot builds a map in a large scale environment. This causes the scalability problem in SLAM. To solve these problems, we propose a novel hierarchical SLAM algorithm that produces a map that contains both object identities and metric information. This map representation is not only easy for human users to read, but also provides better distinctiveness by using the objects as landmarks. By using the object representation coupled with metric information, the number of landmarks also drastically decreases. We analyze the proposed algorithm through various experiments. The algorithm shows good results in both mapping and localization. The kidnap problem is also directly solved without a markov search due to the distinctive nature of the representation.

서지기타정보

서지기타정보
청구기호 {MEE 07038
형태사항 v, 46 p. : 삽도 ; 26 cm
언어 한국어
일반주기 저자명의 영문표기 : Chae-Hoon Park
지도교수의 한글표기 : 권인소
지도교수의 영문표기 : In-So Kweon
학위논문 학위논문(석사) - 한국과학기술원 : 전기및전자공학전공,
서지주기 참고문헌 : p. 45-46
주제 물체 인식
지도 작성
자기위치 추정
Object Recognition
Hierarchical SLAM
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