| 大规模环境下拓扑地图在线创建与导航.doc |
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| 引用本文： | 石朝侠,洪炳镕,周彤,王燕清. 大规模环境下拓扑地图在线创建与导航.doc[J]. 机器人, 2007, 29(5): 0-438 |
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| 作者姓名： | 石朝侠 洪炳镕 周彤 王燕清 |
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| 作者单位： | 1. 哈尔滨工业大学计算机科学与技术学院,黑龙江,哈尔滨,150001
2. 哈尔滨理工大学计算机科学与技术学院,黑龙江,哈尔滨,150080 |
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| 基金项目： | 国家高技术研究发展计划(863计划) , 国家自然科学基金 |
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| 摘 要： | 本文提出了一种新型的拓扑地图，该地图用激光的扇区特征和视觉的比例不变特征（SIFT）来联合表示节点。与传统地图相比，该地图在创建过程中不依赖任何人工路标和机器人的全局定位。机器人通过综合考虑单个节点的相似度和不同节点间的空间关系，利用隐马尔可夫模型来提高节点识别的准确率。实验表明，本文的拓扑地图不仅易于创建和维护，而且适用于机器人在大规模室内环境下的自主导航。
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| 关 键 词： | 地图创建 自主导航 拓扑地图 比例不变特征 |
| 文章编号： | 1002-0446（2007）05-0433-06 |
| 收稿时间： | 2006-11-28 |
| 修稿时间： | 2006-11-28 |
Topological Map Building and Navigation in Large-scale Environments |
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| SHI Chao-xia,HONG Bing-rong,ZHOU Tong,WANG Yan-qing. Topological Map Building and Navigation in Large-scale Environments[J]. Robot, 2007, 29(5): 0-438 |
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| Authors: | SHI Chao-xia HONG Bing-rong ZHOU Tong WANG Yan-qing |
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| Affiliation: | 1. School of Computer Science and Technology, Harbin Institute of Technology, Harbin 150001, China; 2. College of Computer Science and Technology, Harbin University of Science and Technology, Harbin 150080, China |
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| Abstract: | A novel topological map is proposed in this paper,and its nodes are represented with the visual scale-invariant features and the beam features of the laser range finder.Compared with traditional map presentations,this method doesn't need the robot global localization nor the artificial landmarks to build the map.Both the similarity of single node and the spatial relationship between individual nodes are taken into consideration,and the Hidden Markov Model(HMM) is used to improve the node recognition rate.The navigation experiments demonstrate that the topological map is not only easy to build and maintain,but also suitable for autonomous navigation in large-scale indoor environment without any landmarks. |
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| Keywords: | map building autonomous navigation topological map scale-invariant feature HMM(Hidden Markov Model) |
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