环境地图是机器人环境认知并提供服务的基础.以服务机器人为实际应用背景,综合应用多传感器数据,将环境中的具体目标信息映射到利用SLAM技术创建的地图中,生成面向目标的环境模型.论文详细介绍了该环境模型的表示、构建和更新方法,并通过实验证明该模型可有效地提高机器人的环境理解能力和工作效率.%The environment map is the basis for robot understanding surround and providing services.Take service robots for example,multi-sensor data are integrated and specific objects are rejected into the environment map called as object-oriented map using SLAM technology,the paper describes the representation,construction and update methods of the environment model.The experiments show that with the model,robot can effectively improve environment-understanding ability and working efficiency.
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