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

自动化学院

Beijing Institute of Technology

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

6 引用（Scopus）

摘要

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.

源语言	英语
主期刊名	CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference
出版商	Institute of Electrical and Electronics Engineers Inc.
页	2483-2487
页数	5
ISBN（电子版）	9781467383189
DOI	https://doi.org/10.1109/CGNCC.2016.7829183
出版状态	已出版 - 20 1月 2017
活动	7th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2016 - Nanjing, Jiangsu, 中国期限: 12 8月 2016 → 14 8月 2016

丛书

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

会议

会议	7th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2016
国家/地区	中国
市	Nanjing, Jiangsu
时期	12/08/16 → 14/08/16

访问文件

10.1109/CGNCC.2016.7829183

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链接到 Scopus 的出版物

引用此

Fu, M., Zhu, H., Yang, Y., Wang, M., & Deng, Z. (2017). A navigation map building algorithm using refined RBPF-SLAM. 在 CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference (页码 2483-2487). 期刊论文 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. 在 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., 页码 2483-2487, 7th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2016, Nanjing, Jiangsu, 中国, 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 等.
CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference. Institute of Electrical and Electronics Engineers Inc., 2017. 页码 2483-2487 7829183 (CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

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.

UR - https://www.scopus.com/pages/publications/85015149511

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. 在 CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference. Institute of Electrical and Electronics Engineers Inc. 2017. 页码 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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