• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文会议>International Conference on Robot Intelligence Technology and Applications >A Performance Comparison of Geomagnetic Field-Based Vector Field SLAM Approaches
【24h】

A Performance Comparison of Geomagnetic Field-Based Vector Field SLAM Approaches

机译：基于地磁场的矢量场血液扫描方法的性能比较

获取原文
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

This paper presents performance comparison results of geomagnetic field-based vector field SLAM (simultaneous localization and mapping) approaches for mobile robot localization. Generally, building structures distort the Earth's magnetic field inside the building, and the variation of the magnetic field over time is extremely small. Therefore, the geomagnetic field can be applied to mobile robot localization. The geomagnetic field-based vector field SLAM uses only the Earth's magnetic field signals and odometry data to estimate the robot state. Recently, there have been a lot of studies about the possibility of applying the geomagnetic field for mobile robot localization in indoor environments. To estimate the geomagnetic field, the geomagnetic field-based SLAM approaches use bilinear interpolation or bicubic interpolation. However, the approaches have a limitation that its performance highly depends on interpolation method. In this paper, we analysis the performance of the geomagnetic field-based SLAM with respect to interpolation methods. We provide performance comparison results by performing simulations.
机译：本文呈现了基于地磁场的矢量场流动（同时定位和映射）移动机器人定位方法的性能比较结果。通常，建筑物结构扭曲了地球的磁场内部建筑物内，并且磁场随时间的变化非常小。因此，地质磁场可以应用于移动机器人定位。基于地磁场的载体场Slam仅使用地球的磁场信号和内径数据来估计机器人状态。最近，有很多关于在室内环境中应用地磁场的可能性的可能性。为了估计地磁场，基于地磁场的SLAM方法使用BILINEAR插值或双向插值。然而，该方法有一个限制其性能高度取决于插值方法。在本文中，我们对内插方法的基于地磁场的血液的性能分析。我们通过执行模拟提供性能比较结果。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号