A Robust General Voronoi Graph based SLAM for a Hyper Symmetric Environment

Nakju Lett Doh, Wan Kyun Chung, Sung On Lee, Sang Rok Oh, Bum Jae You

Research output: Contribution to conferencePaperpeer-review

9 Citations (Scopus)

Abstract

In this paper, an algorithm for hyper symmetric environment Simultaneous Localization And Mapping(SLAM) is developed based on the generalized Voronoi graph. The hyper symmetric environment is a challenging environment for the SLAM and the most difficult problem on this is a data association. To redeem this problem, we propose three techniques. The first one is a breadth first node navigation algorithm which highly reduces the complexity of the data association. The second scheme is an odometry calibration method which converts untrustable odometry into reliable one. The third method is a multi layered data association scheme. We integrate above three techniques into one framework and propose a SLAM algorithm for the hyper symmetric environment. The simulation result shows that the proposed algorithm can successfully cover a large hyper symmetric environment under 20% odometry uncertainty.

Original languageEnglish
Pages218-223
Number of pages6
Publication statusPublished - 2003
Externally publishedYes
Event2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States
Duration: 2003 Oct 272003 Oct 31

Other

Other2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryUnited States
CityLas Vegas, NV
Period03/10/2703/10/31

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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