Representation of 3D Environment Map Using B-Spline Surface with Two Mutually Perpendicular LRFs
المؤلفون المشاركون
Yan, Rui-Jun
Wu, Jing
Lee, Ji Yeong
Han, Chang-Soo
المصدر
Mathematical Problems in Engineering
العدد
المجلد 2015، العدد 2015 (31 ديسمبر/كانون الأول 2015)، ص ص. 1-14، 14ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2015-07-26
دولة النشر
مصر
عدد الصفحات
14
التخصصات الرئيسية
الملخص EN
This paper proposes a map representation method of three-dimensional (3D) environment by using B-spline surfaces, which are first used to describe large environment in 3D map construction research.
Initially, a 3D point cloud map is constructed based on extracted line segments with two mutually perpendicular 2D laser range finders (LRFs).
Then two types of accumulated data sets are separated from the point cloud map according to different types of robot movements, continuous translation and continuous rotation.
To express the environment more accurately, B-spline surface with covariance matrix is proposed to be extracted from each data set.
Due to the random movements, there must be overlap between extracted B-spline surfaces.
However, merging of two overlapping B-spline surfaces with different distribution directions of their control points is a complex problem, which is not well addressed by far.
In our proposed method, each surface is divided into overlap and nonoverlap.
Then generated sample points with propagated uncertainties from one overlap and their projection points located on the other overlap are merged using the product of Gaussian probability density functions.
Based on this merged data set, a new surface is extracted to represent the environment instead of the two overlaps.
Finally, proposed methods are validated by using the experimental result of an accurate representation of an indoor environment with B-spline surfaces.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Yan, Rui-Jun& Wu, Jing& Lee, Ji Yeong& Han, Chang-Soo. 2015. Representation of 3D Environment Map Using B-Spline Surface with Two Mutually Perpendicular LRFs. Mathematical Problems in Engineering،Vol. 2015, no. 2015, pp.1-14.
https://search.emarefa.net/detail/BIM-1074477
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Yan, Rui-Jun…[et al.]. Representation of 3D Environment Map Using B-Spline Surface with Two Mutually Perpendicular LRFs. Mathematical Problems in Engineering No. 2015 (2015), pp.1-14.
https://search.emarefa.net/detail/BIM-1074477
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Yan, Rui-Jun& Wu, Jing& Lee, Ji Yeong& Han, Chang-Soo. Representation of 3D Environment Map Using B-Spline Surface with Two Mutually Perpendicular LRFs. Mathematical Problems in Engineering. 2015. Vol. 2015, no. 2015, pp.1-14.
https://search.emarefa.net/detail/BIM-1074477
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1074477
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
تقوم هذه الخدمة بالتحقق من التشابه أو الانتحال في الأبحاث والمقالات العلمية والأطروحات الجامعية والكتب والأبحاث باللغة العربية، وتحديد درجة التشابه أو أصالة الأعمال البحثية وحماية ملكيتها الفكرية. تعرف اكثر