Research on improved graph-based SLAM used in intelligent garage

The paper analyzes the problems existing in the practical application of traditional laser triangulation algorithm and sums up the front-end and back-end of graph-based SLAM. Taking into account of the singularity, similarity and symmetry of garbage's feature which may cause feature mismatch an...

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Bibliographic Details
Published in2017 IEEE International Conference on Information and Automation (ICIA) pp. 592 - 597
Main Authors Zhong Wu, Xin Wang, Jun Wang, Huafeng Wen
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.07.2017
Subjects
improved graph-based SLAM
intelligent garage
Laser beams
laser triangulation algorithm
Lasers
Mathematical model
overloaded AGV
Simultaneous localization and mapping
Table lookup
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Summary:The paper analyzes the problems existing in the practical application of traditional laser triangulation algorithm and sums up the front-end and back-end of graph-based SLAM. Taking into account of the singularity, similarity and symmetry of garbage's feature which may cause feature mismatch and the shortcomings of reflective panels being easily blocked by other objects but with high position accuracy while triangulation was used, the idea of combining SLAM algorithm with triangulation algorithm is proposed. The differences between the traditional graph-based SLAM method and the improved one are compared. And the improved algorithm is applied into the navigation of overloaded AGV in the intelligent garage successfully.
DOI:10.1109/ICInfA.2017.8078977