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

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 conference › Paper › peer-review

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 language	English
Pages	218-223
Number of pages	6
Publication status	Published - 2003
Externally published	Yes
Event	2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States Duration: 2003 Oct 27 → 2003 Oct 31

Other

Other	2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
Country/Territory	United States
City	Las Vegas, NV
Period	03/10/27 → 03/10/31

ASJC Scopus subject areas

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

Cite this

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title = "A Robust General Voronoi Graph based SLAM for a Hyper Symmetric Environment",

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.",

author = "Doh, {Nakju Lett} and Chung, {Wan Kyun} and Lee, {Sung On} and Oh, {Sang Rok} and You, {Bum Jae}",

year = "2003",

language = "English",

pages = "218--223",

note = "2003 IEEE/RSJ International Conference on Intelligent Robots and Systems ; Conference date: 27-10-2003 Through 31-10-2003",

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T1 - A Robust General Voronoi Graph based SLAM for a Hyper Symmetric Environment

AU - Doh, Nakju Lett

AU - Chung, Wan Kyun

AU - Lee, Sung On

AU - Oh, Sang Rok

AU - You, Bum Jae

PY - 2003

Y1 - 2003

N2 - 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.

AB - 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.

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T2 - 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems

Y2 - 27 October 2003 through 31 October 2003

ER -

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

Abstract

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ASJC Scopus subject areas

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