DocumentCode
2439021
Title
An indoor environment exploration technique for mobile robot using line segment histogram method
Author
Ki, Young-Hun ; Jeong, Gu-Min ; Moon, Chan-Woo ; Ahn, Hyun-Sik ; Kim, Do-Hyun
Author_Institution
Kookmin Univ., Seoul
fYear
2007
fDate
17-20 Oct. 2007
Firstpage
1136
Lastpage
1139
Abstract
Apartment house and office building has common frame structure, but internal arrangement of each room may be different. It is inconvenient to build a new map for every room at every time the arrangement is changed. For a relatively small and complex indoor environment, using a laser scanner based line segment histogram method, experimental indoor environment is investigated, main structure is found, and probabilistic localization method is studied.
Keywords
mobile robots; optical scanners; robot vision; statistical analysis; apartment house; indoor environment exploration technique; laser scanner; line segment histogram method; mobile robot; office building; probabilistic localization method; Buildings; Coordinate measuring machines; Data mining; Equations; Feature extraction; Histograms; Image segmentation; Indoor environments; Mobile robots; Robot localization; Frame map; Histogram; Laser scanner; Line segment; Probabilistic localization;
fLanguage
English
Publisher
ieee
Conference_Titel
Control, Automation and Systems, 2007. ICCAS '07. International Conference on
Conference_Location
Seoul
Print_ISBN
978-89-950038-6-2
Electronic_ISBN
978-89-950038-6-2
Type
conf
DOI
10.1109/ICCAS.2007.4407072
Filename
4407072
Link To Document