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강승균,임종환,강철웅 제주대학교 공과대학 첨단기술연구소 2003 尖端技術硏究所論文集 Vol.14 No.1
The paper presents an efficient method for extracting the line segments in a local map of a robot's surroundings. The local map is composed of 2-D grids that have both the occupancy and orientation probabilities from sonar information. To find the shape of an object in a local map from orientation information, the orientations are clustered into several groups according to their values. The line segment is ,then, extracted from the clusters based on Hough transform. The proposed technique is illustrated by experiments in an indoor environment.
강승균,임종환,강철웅 제주대학교 공과대학 첨단기술연구소 2004 尖端技術硏究所論文集 Vol.15 No.1
The paper presents an efficient method of extracting line segment in a local map of robot's surroundings. The local map is composed of 2-D grids that have both the occupancy and orientation probabilities based on the bayesian map building model. The local map is continuously updated while the robot explorers its unknown environment and the orientations of all grids in the local map are clustered into several groups according to their values. The line segments are then extracted from the clusters based on least square methods. A merging method that reconstructs lines and corners is developed to build a topological map. The proposed technique is illustrated by experiments in an indoor environment.