Simultaneous localization and mapping through a voronoi-diagram-based map representation

Document Type

Article

Publication Date

9-1-2011

Abstract

To solve the problem that the current map division methods in the hybrid metric map based simultaneous localization and mapping (SLAM) are not complete, this paper proposes an algorithm "VorSLAM", which uses a new map representation based on Voronoi diagram. The VorSLAM builds a feature based map in the global reference frame firstly. By operating Voronoi diagram on the feature map, it then divides the whole environment space uniquely into a series of local regions, in which dense local maps are built. The feature map together with the local maps gives the environment a continuous and dense description. The map representation based on Voronoi diagram ensures that the map division is unique. In each region, the local environment coutour is proven to be described completely by the corresponding local map. A basic character of the proposed map representation is that each global feature associates with a local dense map, which is defined relative to this feature. Utilizing this character, a data association (DA) approach based on shape matching is presented to solve the ambiguity problem of traditional DA algorithms. An experiment carried out in a long arched corridor illustrates the effectiveness of VorSLAM algorithm and the shape matching data association method. Copyright © 2011 Acta Automatica Sinica.

Publication Source (Journal or Book title)

Zidonghua Xuebao/Acta Automatica Sinica

First Page

1095

Last Page

1104

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