Path pre-planning optimizing SLAM uncertainty using reinforcement learning강화학습을 이용한 SLAM 불확실성을 최소화하는 사전 경로 계획법

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3D mapping accuracy is affected by the data acquisition path of the mobile mapping system. In this thesis, we will propose a path pre-planning method that optimizes 3D mapping accuracy in terms of the trajectory error, using the reinforcement learning technique and an RGB image and a depth image of the target area. Our method first predicts the LiDAR measurement quality of the scene from an RGB and depth image. In this step, we calculate normal vectors for each pixel point and the scene with more diverse normal vectors is considered as a scene with better LiDAR measurement. We then convert location measurement into graph structure using predicted LiDAR measurement. Using the obtained graph, we finally calculate the optimal path using the reinforcement learning technique. Lastly, our experiment in the simulation environment shows our method lowers trajectory error compared to a randomly generated path and also faster than existing path planning algorithms on the graph structure.
Advisors
Kim, Ayoungresearcher김아영researcher
Description
한국과학기술원 :건설및환경공학과,
Publisher
한국과학기술원
Issue Date
2020
Identifier
325007
Language
eng
Description

학위논문(석사) - 한국과학기술원 : 건설및환경공학과, 2020.2,[iv, 38 p. :]

Keywords

Mobile Robot▼aPath Planning▼aActive SLAM▼aReinforcement Learning▼aReinforcement Learning; 모바일 로봇▼a경로 계획법▼a액티브 슬램▼a강화학습▼a강화학습

URI
http://hdl.handle.net/10203/283947
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=910663&flag=dissertation
Appears in Collection
CE-Theses_Master(석사논문)
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