Research on Environmental Features Description and Extraction Based on Cylindrical Log-Polar Coordinate

Kui Feng Su; Tian Qing Chang

doi:10.4028/www.scientific.net/AMR.905.379

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HomeAdvanced Materials ResearchAdvanced Materials Research Vol. 905Research on Environmental Features Description and...

Research on Environmental Features Description and Extraction Based on Cylindrical Log-Polar Coordinate

Abstract:

This paper presents a hierarchical hybrid mapping model for environment representation for the estimation of vehicle pose and environment feature. The environment map converted from the point cloud data gotten by LIDAR is represented with a cylindrical logarithmic polar grid, which considerably improves the efficiency and accuracy of environmental feature detection. To lower the search scope of data association and reduce the dimension of state estimation, we adopt a topology map in the top level. The autonomous ground vehicle experimental results shows that the proposed method has better performance.

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Periodical:

Advanced Materials Research (Volume 905)

Pages:

379-382

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.905.379

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Online since:

April 2014

Authors:

Kui Feng Su*, Tian Qing Chang

Keywords:

Cylindrical Logarithmic Polar Coordinate, SLAM, Unmanned Ground Vehicle

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