Pregled bibliografske jedinice broj: 1023753
Efficient Dense Frontier Detection for 2D Graph SLAM Based on Occupancy Grid Submaps
Efficient Dense Frontier Detection for 2D Graph SLAM Based on Occupancy Grid Submaps // IEEE Robotics and Automation Letters, 4 (2019), 4; 3569-3576 doi:10.1109/LRA.2019.2928203 (međunarodna recenzija, članak, znanstveni)
CROSBI ID: 1023753 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
Efficient Dense Frontier Detection for 2D Graph SLAM Based on Occupancy Grid Submaps
Autori
Oršulić, Juraj ; Miklić, Damjan ; Kovačić, Zdenko
Izvornik
IEEE Robotics and Automation Letters (2377-3766) 4
(2019), 4;
3569-3576
Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni
Ključne riječi
Simultaneous localization and mapping ; Task analysis ; Two dimensional displays ; Pipelines ; Path planning
Sažetak
In autonomous robot exploration, the frontier is the border in the world map dividing the explored and unexplored space. The frontier plays an important role when deciding where in the environment the robots should go explore next. We consider a modular control system pipeline for autonomous exploration where a 2-D graph simultaneous localization and mapping (SLAM) algorithm based on occupancy grid submaps performs map building and localization, and frontier detection is one of the key system components. We provide an overview of the state of the art in frontier detection and the relevant SLAM concepts and propose a fast specialized frontier detection method which is efficiently constrained to active submaps, yet robust to graph SLAM loop closures.
Izvorni jezik
Engleski
Znanstvena područja
Elektrotehnika, Temeljne tehničke znanosti
POVEZANOST RADA
Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb
