RG mapping:: Learning compact and structured 2D line maps of indoor environments

被引：0
|
作者：
Schröter, D [1 ]
Beetz, M [1 ]
Gutmann, JS [1 ]
机构：
[1] Tech Univ Munich, Munich, Germany
来源：
IEEE ROMAN 2002, PROCEEDINGS | 2002年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper we present Region and Gateway (RG) mapping, a novel approach to laser-based 2D line mapping of indoor environments. RG mapping is capable of acquiring very compact, structured, and semantically annotated maps. We present and empirically analyze the method based on map acquisition experiments with autonomous mobile robots. The experiments show that RG mapping drastically compresses the data contained in line scan maps without substantial loss of accuracy.
引用
收藏
页码：282 / 287
页数：6
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