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실외 이동로봇의 고도지도 기반의 전역 위치추정을 위한 Hausdorff 거리 정합 기법
지용훈(Yong-Hoon Ji),송재복(Jea-Bok Song),백주현(Joo-Hyun Baek),유재관(Jae-Kwan Ryu) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.9
Mobile robot localization is the task of estimating the robot pose in a given environment. This research deals with outdoor localization based on an elevation map. Since outdoor environments are large and contain many complex objects, it is difficult to robustly estimate the robot pose. This paper proposes a Hausdorff distance-based map matching method. The Hausdorff distance is exploited to measure the similarity between extracted features obtained from the robot and elevation map. The experiments and simulations show that the proposed Hausdorff distance-based map matching is useful for robust outdoor localization using an elevation map. Also, it can be easily applied to other probabilistic approaches such as a Markov localization method.