DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kweon, In-So | ko |
dc.contributor.author | Choi, Dong-Geol | ko |
dc.contributor.author | Shim, Inwook | ko |
dc.contributor.author | Bok, Yunsu | ko |
dc.contributor.author | Oh, Tae Hyun | ko |
dc.date.accessioned | 2013-03-29T19:27:20Z | - |
dc.date.available | 2013-03-29T19:27:20Z | - |
dc.date.created | 2012-12-05 | - |
dc.date.created | 2012-12-05 | - |
dc.date.created | 2012-12-05 | - |
dc.date.issued | 2012-10-09 | - |
dc.identifier.citation | IEEE/RSJ International Conference on Intelligent Robots and Systems | - |
dc.identifier.uri | http://hdl.handle.net/10203/173194 | - |
dc.description.abstract | Building maps of unknown environments is a critical factor for autonomous navigation and homing, and this problem is especially challenging in large-scale environments. Recently, sensor fusion systems such as combinations of cameras and laser sensors have become popular in the effort to ensure a general level of performance in this task. In this paper, we present a new homing method in a large-scale environment using a laser-camera fusion system. Instead of fusing data to form a single map builder, we adaptively select sensor data to handle environments which contain ambiguity. For autonomous homing, we propose a new mapping strategy for building a hybrid map and a return strategy for selecting the next target waypoints efficiently. The experimental results demonstrate that the proposed algorithm enables the autonomous homing of a robot in large-scale indoor environments in real time. | - |
dc.language | English | - |
dc.publisher | IEEE | - |
dc.title | Autonomous Homing based on Laser-Camera Fusion System | - |
dc.type | Conference | - |
dc.identifier.wosid | 000317042703012 | - |
dc.identifier.scopusid | 2-s2.0-84872286647 | - |
dc.type.rims | CONF | - |
dc.citation.publicationname | IEEE/RSJ International Conference on Intelligent Robots and Systems | - |
dc.identifier.conferencecountry | PO | - |
dc.identifier.conferencelocation | Hotel Tivoli Marina Vilamoura | - |
dc.embargo.liftdate | 9999-12-31 | - |
dc.embargo.terms | 9999-12-31 | - |
dc.contributor.localauthor | Kweon, In-So | - |
dc.contributor.nonIdAuthor | Choi, Dong-Geol | - |
dc.contributor.nonIdAuthor | Shim, Inwook | - |
dc.contributor.nonIdAuthor | Bok, Yunsu | - |
dc.contributor.nonIdAuthor | Oh, Tae Hyun | - |
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