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移动机器人SLAMiDE系统设计与实现

Design and Implementation of Mobile Robot SLAMiDE System
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摘要 针对动态环境下移动机器人同时定位与建图(SLAM)问题,设计一种动态环境SLAM系统——SLAMiDE,给出系统的整体结构框架和实现过程。该系统通过动态目标检测、SLAM和动态目标跟踪同时实现动态地图构建、静态地图构建和机器人定位。实验结果证明,该系统是正确、可行的。 This paper designs a Simultaneous Localization and Mapping（SLAM） system to realize the mobile robot Simultaneous Localization and Mapping（SLAM） in dynamic environment,and presents the overall framework and realization process.The SLAMiDE system realizes the dynamic map building,static map building and mobile robot localization simultaneously through dynamic objects detection,SLAM and dynamic objects tracking.Experimental results show that SLAMiDE system is testified correct and feasible.
作者 陈白帆 蔡自兴 邹智荣
机构地区 中南大学信息科学与工程学院
出处 《计算机工程》 CAS CSCD 北大核心 2011年第17期158-160,共3页 Computer Engineering
基金 国家自然科学基金资助重大项目(90820302) 中南大学自由探索计划基金资助项目
关键词 移动机器人 同时定位与建图 动态环境 动态目标检测 数据关联 mobile robot Simultaneous Localization and Mapping（SLAM） dynamic environment dynamic objects detection data association
分类号 TP242 [自动化与计算机技术—检测技术与自动化装置]
  • 相关文献

参考文献5

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二级参考文献24

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共引文献47

计算机工程
2011年 第17期

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