Pregled bibliografske jedinice broj: 1139571
A Novel Genetic Scan-Matching-Based Registration Algorithm for Supporting Moving Objects Tracking Effectively and Efficiently
A Novel Genetic Scan-Matching-Based Registration Algorithm for Supporting Moving Objects Tracking Effectively and Efficiently // IEEE Access, 9 (2021), 91741-91753 doi:10.1109/access.2021.3091520 (međunarodna recenzija, članak, znanstveni)
CROSBI ID: 1139571 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
A Novel Genetic Scan-Matching-Based Registration
Algorithm for Supporting Moving Objects Tracking
Effectively and Efficiently
Autori
Lenac, Kristijan ; Cuzzocrea, Alfredo ; Mumolo, Enzo
Izvornik
IEEE Access (2169-3536) 9
(2021);
91741-91753
Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni
Ključne riječi
Moving objects ; Scan-matching algorithms ; Intelligent systems ; Genetic optimization
Sažetak
In this paper we describe a scan-matching based registration algorithm for tracking moving objects which falls in the emerging area that predicates the integration between robotics and big data applications . The scan matching approaches track paths of a mobile object by comparing maps of the environment seen by the object during its movement. Algorithms described in this paper are hybrid, i.e. they compare maps by using first a genetic pre-alignment based on a novel metrics, and then performing a finer alignment using a deterministic approach. This kind of hybridization is, indeed, not new. However, the novel metrics used in this paper leads to important new properties, namely to correct arbitrary rotational errors and to cover larger search spaces. The proposed algorithm is experimentally compared to other approaches, and better performance in terms of accuracy and robustness are reported. Finally, our algorithm is also very fast thanks to the genetic pre- alignment task and the novel metrics we propose.
Izvorni jezik
Engleski
Znanstvena područja
Računarstvo
POVEZANOST RADA
Projekti:
NadSve-Sveučilište u Rijeci-uniri-tehnic-18-295 - Ugradbeni sustavi za 3D percepciju (Lenac, Kristijan, NadSve ) ( CroRIS)
Ustanove:
Tehnički fakultet, Rijeka
Profili:
Kristijan Lenac
(autor)
Citiraj ovu publikaciju:
Časopis indeksira:
- Current Contents Connect (CCC)
- Web of Science Core Collection (WoSCC)
- Science Citation Index Expanded (SCI-EXP)
- SCI-EXP, SSCI i/ili A&HCI
- Scopus