A navigation map building algorithm using refined RBPF-SLAM

Mengyin Fu; Hao Zhu; Yi Yang; Meiling Wang; Zhihong Deng

doi:10.1109/CGNCC.2016.7829183

A navigation map building algorithm using refined RBPF-SLAM

Mengyin Fu, Hao Zhu, Yi Yang, Meiling Wang, Zhihong Deng

School of Automation

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

6 Citations (Scopus)

Abstract

This paper proposes a map building algorithm for navigation task of autonomous vehicle. A local 2D grid map is designed to convey three types of information (free space, obstacle and unknown). A refined RBPF-SLAM algorithm is established to build a large scale, accurate navigation map. Moving obstacle information is excluded in the final map, which provides better performance in vehicle's online localization. Two sets of experiments are carried out in two driving conditions, with one in urban traffic environment and the other in unstructured environment. The mapping and localization result testify the effectiveness of our algorithm.

Original language	English
Title of host publication	CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2483-2487
Number of pages	5
ISBN (Electronic)	9781467383189
DOIs	https://doi.org/10.1109/CGNCC.2016.7829183
Publication status	Published - 20 Jan 2017
Event	7th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2016 - Nanjing, Jiangsu, China Duration: 12 Aug 2016 → 14 Aug 2016

Publication series

Name	CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference

Conference

Conference	7th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2016
Country/Territory	China
City	Nanjing, Jiangsu
Period	12/08/16 → 14/08/16

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10.1109/CGNCC.2016.7829183

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Fu, M., Zhu, H., Yang, Y., Wang, M., & Deng, Z. (2017). A navigation map building algorithm using refined RBPF-SLAM. In CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference (pp. 2483-2487). Article 7829183 (CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CGNCC.2016.7829183

@inproceedings{8b28747260304faca23a92d452296c4c,

title = "A navigation map building algorithm using refined RBPF-SLAM",

abstract = "This paper proposes a map building algorithm for navigation task of autonomous vehicle. A local 2D grid map is designed to convey three types of information (free space, obstacle and unknown). A refined RBPF-SLAM algorithm is established to build a large scale, accurate navigation map. Moving obstacle information is excluded in the final map, which provides better performance in vehicle's online localization. Two sets of experiments are carried out in two driving conditions, with one in urban traffic environment and the other in unstructured environment. The mapping and localization result testify the effectiveness of our algorithm.",

author = "Mengyin Fu and Hao Zhu and Yi Yang and Meiling Wang and Zhihong Deng",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 7th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2016 ; Conference date: 12-08-2016 Through 14-08-2016",

year = "2017",

month = jan,

day = "20",

doi = "10.1109/CGNCC.2016.7829183",

language = "English",

series = "CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "2483--2487",

booktitle = "CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference",

address = "United States",

}

Fu, M, Zhu, H, Yang, Y , Wang, M & Deng, Z 2017, A navigation map building algorithm using refined RBPF-SLAM. in CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference., 7829183, CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference, Institute of Electrical and Electronics Engineers Inc., pp. 2483-2487, 7th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2016, Nanjing, Jiangsu, China, 12/08/16. https://doi.org/10.1109/CGNCC.2016.7829183

A navigation map building algorithm using refined RBPF-SLAM. / Fu, Mengyin; Zhu, Hao; Yang, Yi et al.
CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference. Institute of Electrical and Electronics Engineers Inc., 2017. p. 2483-2487 7829183 (CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - A navigation map building algorithm using refined RBPF-SLAM

AU - Fu, Mengyin

AU - Zhu, Hao

AU - Yang, Yi

AU - Wang, Meiling

AU - Deng, Zhihong

PY - 2017/1/20

Y1 - 2017/1/20

N2 - This paper proposes a map building algorithm for navigation task of autonomous vehicle. A local 2D grid map is designed to convey three types of information (free space, obstacle and unknown). A refined RBPF-SLAM algorithm is established to build a large scale, accurate navigation map. Moving obstacle information is excluded in the final map, which provides better performance in vehicle's online localization. Two sets of experiments are carried out in two driving conditions, with one in urban traffic environment and the other in unstructured environment. The mapping and localization result testify the effectiveness of our algorithm.

AB - This paper proposes a map building algorithm for navigation task of autonomous vehicle. A local 2D grid map is designed to convey three types of information (free space, obstacle and unknown). A refined RBPF-SLAM algorithm is established to build a large scale, accurate navigation map. Moving obstacle information is excluded in the final map, which provides better performance in vehicle's online localization. Two sets of experiments are carried out in two driving conditions, with one in urban traffic environment and the other in unstructured environment. The mapping and localization result testify the effectiveness of our algorithm.

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U2 - 10.1109/CGNCC.2016.7829183

DO - 10.1109/CGNCC.2016.7829183

M3 - Conference contribution

AN - SCOPUS:85015149511

T3 - CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference

SP - 2483

EP - 2487

BT - CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 7th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2016

Y2 - 12 August 2016 through 14 August 2016

ER -

Fu M, Zhu H, Yang Y , Wang M , Deng Z. A navigation map building algorithm using refined RBPF-SLAM. In CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference. Institute of Electrical and Electronics Engineers Inc. 2017. p. 2483-2487. 7829183. (CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference). doi: 10.1109/CGNCC.2016.7829183

A navigation map building algorithm using refined RBPF-SLAM

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