泡泡一分钟:Topomap: Topological Mapping and Navigation Based on Visual SLAM Maps
Topomap: Topological Mapping and Navigation Based on Visual SLAM Maps
Fabian Bl¨ochliger, Marius Fehr, Marcin Dymczyk, Thomas Schneider and Roland Siegwart
Topomap:基于Visual SLAM地图的拓扑映射和导航
https://arxiv.org/pdf/1709.05533.pdf
Abstract—Visual robot navigation within large-scale, semistructured environments deals with various challenges such as computation intensive path planning algorithms or insufficient knowledge about traversable spaces. Moreover, many state of-the-art navigation approaches only operate locally instead of gaining a more conceptual understanding of the planning objective. This limits the complexity of tasks a robot can accomplish and makes it harder to deal with uncertainties that are present in the context of real-time robotics applications.
大规模半结构化环境中的视觉机器人导航处理各种挑战,例如计算密集型路径规划算法或关于可穿越空间的不充分知识。此外,许多最先进的导航方法仅在本地运行,而不是对规划目标进行更概念性的理解。这限制了机器人可以完成的任务的复杂性,并且使得处理实时机器人应用中存在的不确定性变得更加困难。
In this work, we present Topomap, a framework which simplifies the navigation task by providing a map to the robot which is tailored for path planning use. This novel approach transforms a sparse feature-based map from a visual Simultaneous Localization And Mapping (SLAM) system into a three-dimensional topological map. This is done in two steps. First, we extract occupancy information directly from the noisy sparse point cloud. Then, we create a set of convex free-space clusters, which are the vertices of the topological map. We show that this representation improves the efficiency of global planning, and we provide a complete derivation of our algorithm. Planning experiments on real world datasets demonstrate that we achieve similar performance as RRT* with significantly lower computation times and storage requirements. Finally, we test our algorithm on a mobile robotic platform to prove its advantages.
在这项工作中,我们介绍了Topomap,这是一个简化导航任务的框架,它为机器人提供了一个专为路径规划使用而定制的地图。这种新颖的方法将稀疏的基于特征的地图从视觉同时定位和建图(SLAM)系统转换为三维拓扑地图。这分两步完成。 首先,我们直接从嘈杂的稀疏点云中提取占用信息。然后,我们创建一组凸自由空间簇,它们是拓扑图的顶点。我们证明了这种表示提高了全局规划的效率,并且我们提供了算法的完整推导。在现实世界数据集上进行规划实验表明,我们实现了与RRT *类似的性能,同时显着降低了计算时间和存储要求。最后,我们在移动机器人平台上测试我们的算法,以证明其优势。
泡泡一分钟:Topomap: Topological Mapping and Navigation Based on Visual SLAM Maps的更多相关文章
- 泡泡一分钟:Collaborative Mapping with Pose Uncertainties using different Radio Frequencies and Communication Modules
张宁 Collaborative Mapping with Pose Uncertainties using different Radio Frequencies and Communication ...
- 泡泡一分钟:Tightly-Coupled Aided Inertial Navigation with Point and Plane Features
Tightly-Coupled Aided Inertial Navigation with Point and Plane Features 具有点和平面特征的紧密耦合辅助惯性导航 Yulin Ya ...
- 泡泡一分钟:Semantic Labeling of Indoor Environments from 3D RGB Maps
张宁 Semantic Labeling of Indoor Environments from 3D RGB Maps Manuel Brucker, Maximilian Durner, Ra ...
- 泡泡一分钟:GEN-SLAM - Generative Modeling for Monocular Simultaneous Localization and Mapping
张宁 GEN-SLAM - Generative Modeling for Monocular Simultaneous Localization and Mapping GEN-SLAM - 单 ...
- 泡泡一分钟:Semi-Dense Visual-Inertial Odometry and Mapping for Quadrotors with SWAP Constraints
张宁 Semi-Dense Visual-Inertial Odometry and Mapping for Quadrotors with SWAP Constraints 具有SWAP约束的四旋翼 ...
- 泡泡一分钟:Perception-aware Receding Horizon Navigation for MAVs
作为在空中抛掷四旋翼飞行器后恢复的第一步,它需要检测它使用其加速度计的发射.理想的情况下,在飞行中,加速度计理想地仅测量由于施加的转子推力引起的加速度,即.因此,当四旋翼飞行器发射时,我们可以检测到测 ...
- 泡泡一分钟:Aided Inertial Navigation: Unified Feature Representations and Observability Analysis
http://udel.edu/~yuyang/downloads/tr_observabilityII.pdf Aided Inertial Navigation: Unified Feature R ...
- 泡泡一分钟:Towards real-time unsupervised monocular depth estimation on CPU
Towards real-time unsupervised monocular depth estimation on CPU Matteo Poggi , Filippo Aleotti , Fa ...
- 泡泡一分钟:Stabilize an Unsupervised Feature Learning for LiDAR-based Place Recognition
Stabilize an Unsupervised Feature Learning for LiDAR-based Place Recognition Peng Yin, Lingyun Xu, Z ...
随机推荐
- Angular CLI behind the scenes, part one
原文:https://commandlinefanatic.com/cgi-bin/showarticle.cgi?article=art074 --------------------------- ...
- LINQ查询表达式(5) - LINQ Null值处理&异常处理
查询表达式中处理Null值 此示例演示如何处理源集合中可能的 null 值. 诸如 IEnumerable<T> 等对象集合可能包含值为 null 的元素. 如果源集合为 null 或包含 ...
- 使用bufio包和函数式变成实现类似python生成器效果
package main import ( "bufio" "fmt" "io" "strings" ) type in ...
- C# 判断程序是否执行 进行启动或前台显示
#region 显示程序 [DllImport("user32.dll", EntryPoint = "FindWindow")] public static ...
- linux学习5 Linux开篇入门和基本操作
一.完整的操作系统 1.GNU系统:表示GNU is Not Unix.表示不做商业化.制定了GPL(General Public License)即任何软件程序只要遵循GPL协议就是自由软件.还制定 ...
- 使用 HttpClient 进行 Post 方式通信
1.TestPost.java package testhttpclient; import java.io.IOException;import java.util.ArrayList;import ...
- learning java ATW ScrollPane
import java.awt.*; public class ScrollPaneTest { public static void main(String[] args) { var f = ne ...
- declare/typeset
用来生命变量的,作用完全一样. 不像C语言那样严谨的语法,变量在使用前必须声明. 但是在shell中对变量的声明要求并不高,因为shell弱化了变量的类概念,所以shell被称为弱类型语言, 声明变量 ...
- poj 3735 稀疏矩阵矩阵快速幂
设人数为 $n$,构造 $(n + 1) \times (n + 1)$ 的矩阵 得花生:将改行的最后一列元素 $+ 1$ \begin{gather}\begin{bmatrix}1 & 0 ...
- DP斜率优化总结
目录 DP斜率优化总结 任务安排1 任务计划2 任务安排3 百日旅行 DP斜率优化总结 任务安排1 首先引入一道题,先\(O(N^2)\)做法:分别预处理出\(T_i,C_i\)前缀和\(t[i],c ...