A layered SLAM based approach for unknown environment hierarchical map building

作者：Qian Kun^*; Ma Xudong; Dai Xianzhong; Fang Fang

来源：Robot, 2011, 33(6): 736-741.

DOI：10.3724/SP.J.1218.2011.00736

• Environmental model
• Environmental sensor
• Global consistency
• Hierarchical maps
• Local coordinate
• Map Building
• Relative positions
• Relaxation algorithm
• Robot pose
• Scan matching
• Simultaneous localization and mapping
• Topological optimization
• Topological structure
• Unknown environments

A layered simultaneous localization and mapping (SLAM) approach for building spatial hierarchical maps is proposed in situations that obstacles, environmental sensors and robot poses are all unknown in large-scale environments. Firstly, a two-layered environmental model is established, which is composed of a submap layer and a topological node layer. Then the perception information of the environmental sensors is employed to assist the online creation and update of submaps local coordinate framework. While building the topological structure, the coupling summation equation is utilized to compute the relative positions between nodes. Based on the loop-closure detection result, the weighted scan matching algorithm and the relaxation algorithm are introduced to optimize the topological structure, which ensures global consistency of the map. Experimental results validate the feasibility and effectiveness of the approach.

• 出版日期2011
• 单位东南大学