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Título
Weighted Conformal LiDAR-Mapping for Structured SLAM
Autor
Facultad/Centro
Área de conocimiento
Título de la revista
IEEE Transactions on Instrumentation and Measurement
Número de la revista
8504110
Datos de la obra
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
Editor
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Fecha
2023-06-08
ISSN
1557-9662
Zusammenfassung
[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.
Materia
Palabras clave
Peer review
SI
URI
DOI
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