VECTOR MAPS IN MOBILE ROBOTICS

Authors

  • Ales Jelinek Central European Institute of Technology, Brno University of Technology, Technicka 10, Brno, Czech Republic

DOI:

https://doi.org/10.14311/APP.2015.1.0022

Abstract

The aim of this paper is to provide a brief overview of vector map techniques used in mobile robotics and to present current state of the research in this field at the Brno University of Technology. Vector maps are described as a part of the simultaneous localization and mapping (SLAM) problem in the environment without artificial landmarks or global navigation system. The paper describes algorithms from data acquisition to map building but particular emphasis is put on segmentation, line extraction and scan matching algorithms. All significant algorithms are illustrated with experimental results.

Downloads

Published

2015-12-31

Issue

Vol. 2 No. 2 (2015): PAIR'14 / PAIR'15 STUDENT CONFERENCES ON PLANNING IN ARTIFICIAL INTELLIGENCE AND ROBOTICS

Section

Articles

License

Copyright notice

Authors who publish with this journal agree to the following terms:

1. Authors retain copyright and grant the journal the right of the first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.
2. Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., to post it to an institutional repository or to publish it in a book), with an acknowledgement of its initial publication in this journal.
3. Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges as well as earlier and greater citation of the published work (See The Effect of Open Access).