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dc.contributor | Escuela de Ingenierias Industrial, Informática y Aeroespacial | es_ES |
dc.contributor.author | Prieto Fernández, Natalia | |
dc.contributor.author | Fernández Blanco, Sergio | |
dc.contributor.author | Fernández Blanco, Álvaro | |
dc.contributor.author | Benítez Andrades, José Alberto | |
dc.contributor.author | Carro de Lorenzo, Francisco Julián | |
dc.contributor.author | Benavides Cuéllar, María del Carmen | |
dc.contributor.other | Ingenieria de Sistemas y Automatica | es_ES |
dc.date | 2023-06-08 | |
dc.date.accessioned | 2024-02-01T09:37:30Z | |
dc.date.available | 2024-02-01T09:37:30Z | |
dc.identifier.citation | 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 | es_ES |
dc.identifier.issn | 1557-9662 | |
dc.identifier.uri | https://hdl.handle.net/10612/17984 | |
dc.description.abstract | [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. | es_ES |
dc.language | eng | es_ES |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | es_ES |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internacional | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/ | * |
dc.subject | Ingeniería de sistemas | es_ES |
dc.subject | Ingeniería industrial | es_ES |
dc.subject.other | Simultaneous localization and mapping | es_ES |
dc.subject.other | Laser radar | es_ES |
dc.subject.other | Feature extraction | es_ES |
dc.subject.other | Computational efficiency | es_ES |
dc.subject.other | Signal to noise ratio | es_ES |
dc.subject.other | Sensor phenomena and characterization | es_ES |
dc.title | Weighted Conformal LiDAR-Mapping for Structured SLAM | es_ES |
dc.title.alternative | Mapeo LiDAR conformado ponderado para SLAM estructurado | es_ES |
dc.type | info:eu-repo/semantics/article | es_ES |
dc.identifier.doi | https://doi.org/10.1109/TIM.2023.3284143 | |
dc.description.peerreviewed | SI | es_ES |
dc.rights.accessRights | info:eu-repo/semantics/openAccess | es_ES |
dc.journal.title | IEEE Transactions on Instrumentation and Measurement | es_ES |
dc.volume.number | 72 | es_ES |
dc.issue.number | 8504110 | es_ES |
dc.type.hasVersion | info:eu-repo/semantics/publishedVersion | es_ES |
dc.subject.unesco | 3310 Tecnología Industrial | es_ES |
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