RT info:eu-repo/semantics/article
T1 Conditional Weighted Linear Fitting for 2D-LiDAR-Mapping of Indoor SLAM
A1 Prieto Fernández, Natalia
A1 Fernández Blanco, Sergio
A1 Fernández Blanco, Álvaro
A1 Benítez Andrades, José Alberto
A1 Carro de Lorenzo, Francisco Julián
A1 Benavides Cuéllar, María del Carmen
A2 Ingenieria de Sistemas y Automatica
K1 Ingenierías
K1 Matemáticas
K1 Bivariate linear regression mapping
K1 LiDAR
K1 SLAM
K1 Computational efficiency
K1 Feature extraction
K1 Light detection and ranging
K1 Simultaneous localization and mapping
K1 3317.02 Automóviles
K1 3304.13 Dispositivos de Transmisión de Datos
AB [EN] The ability to map an unknown environment is a fundamental milestone for autonomous robotic vehicles. Solutions in this field must combine efficiency, accuracy, and precision. We propose a novel methodology for map feature extraction in indoor environments. The mathematical model and its implementation are designed to operate with 2-D light detection and ranging (LiDAR) measurements. Map parameters and associated uncertainty levels are determined through bivariate linear regression. The final step is experimental validation, using a low-cost commercial LiDAR sensor. The main contributions of the proposed methodology lie in the domains of computational efficiency and uncertainty. In addition, the results prove the ability of our methodology to handle large volumes of data while maintaining restrained growth in computational time. This outcome suggests considerable potential for real-time applications with limited hardware resources. A second methodology, extracted from the current state of the art, is used in parallel for benchmarking purposes
PB IEEE
SN 1551-3203
LK https://hdl.handle.net/10612/20233
UL https://hdl.handle.net/10612/20233
NO Prieto-Fernández, N., Fernández-Blanco, S., Fernández-Blanco, Á., Benítez-Andrades, J. A., Carro-De-Lorenzo, F., and Benavides, C. (2024). Conditional Weighted Linear Fitting for 2D-LiDAR-Mapping of Indoor SLAM. IEEE Transactions on Industrial Informatics. https://doi.org/10.1109/TII.2024.3384626
DS BULERIA. Repositorio Institucional de la Universidad de León
RD 01-jun-2024