DC Field | Value | Language |
---|---|---|
dc.contributor.author | Choi, Dong-Geol | - |
dc.contributor.author | Shim, Inwook | - |
dc.contributor.author | Bok, Yunsu | - |
dc.contributor.author | Oh, Tae-Hyun | - |
dc.contributor.author | Kweon, In So | - |
dc.date.accessioned | 2023-03-20T02:23:51Z | - |
dc.date.available | 2023-03-20T02:23:51Z | - |
dc.date.created | 2023-03-16 | - |
dc.date.issued | 2012-10-07 | - |
dc.identifier.uri | https://oasis.postech.ac.kr/handle/2014.oak/117040 | - |
dc.description.abstract | Building maps of unknown environments is a critical factor for autonomous navigation and homing, and this problem is especially challenging in large-scale environments. Recently, sensor fusion systems such as combinations of cameras and laser sensors have become popular in the effort to ensure a general level of performance in this task. In this paper, we present a new homing method in a large-scale environment using a laser-camera fusion system. Instead of fusing data to form a single map builder, we adaptively select sensor data to handle environments which contain ambiguity. For autonomous homing, we propose a new mapping strategy for building a hybrid map and a return strategy for selecting the next target waypoints efficiently. The experimental results demonstrate that the proposed algorithm enables the autonomous homing of a robot in a large-scale indoor environments in real time. © 2012 IEEE. | - |
dc.language | English | - |
dc.publisher | IEEE Robotics and Automation Society | - |
dc.relation.isPartOf | 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 | - |
dc.relation.isPartOf | IEEE International Conference on Intelligent Robots and Systems | - |
dc.title | Autonomous homing based on laser-camera fusion system | - |
dc.type | Conference | - |
dc.type.rims | CONF | - |
dc.identifier.bibliographicCitation | 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012, pp.2512 - 2518 | - |
dc.citation.conferenceDate | 2012-10-07 | - |
dc.citation.conferencePlace | PO | - |
dc.citation.conferencePlace | Vilamoura, Algarve | - |
dc.citation.endPage | 2518 | - |
dc.citation.startPage | 2512 | - |
dc.citation.title | 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 | - |
dc.contributor.affiliatedAuthor | Oh, Tae-Hyun | - |
dc.description.journalClass | 1 | - |
dc.description.journalClass | 1 | - |
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