RT info:eu-repo/semantics/article
T1 Weighted Conformal LiDAR-Mapping for Structured SLAM
T2 Mapeo LiDAR conformado ponderado para SLAM estructurado
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 Ingeniería de sistemas
K1 Ingeniería industrial
K1 Simultaneous localization and mapping
K1 Laser radar
K1 Feature extraction
K1 Computational efficiency
K1 Signal to noise ratio
K1 Sensor phenomena and characterization
K1 3310 Tecnología Industrial
AB [EN] One of the main challenges in simultaneous localization and mapping (SLAM) is real-time processing. High-computational loads linked to data acquisition and processing complicate this task. This article presents an efficient feature extraction approach for mapping structured environments. The proposed methodology, weighted conformal LiDAR-mapping (WCLM), is based on the extraction of polygonal profiles and propagation of uncertainties from raw measurement data. This is achieved using conformal M bius transformation. The algorithm has been validated experimentally using 2-D data obtained from a low-cost Light Detection and Ranging (LiDAR) range finder. The results obtained suggest that computational efficiency is significantly improved with reference to other state-of-the-art SLAM approaches.
PB IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
SN 1557-9662
LK https://hdl.handle.net/10612/17984
UL https://hdl.handle.net/10612/17984
NO Prieto-Fernández, N., Fernández-Blanco, S., Fernández-Blanco, Á., Benítez-Andrades, J. A., Carro-De-Lorenzo, F., & Benavides, C. (2023). Weighted Conformal LiDAR-Mapping for Structured SLAM. IEEE Transactions on Instrumentation and Measurement, 72, 1-10. https://doi.org/10.1109/TIM.2023.3284143
DS BULERIA. Repositorio Institucional de la Universidad de León
RD Jul 11, 2024