Frontier Detection in Consecutive Grid Maps with Set Reduction

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23520%2F20%3A43956272" target="_blank" >RIV/49777513:23520/20:43956272 - isvavai.cz</a>
Result on the web
<a href="https://link.springer.com/chapter/10.1007/978-981-13-9267-2_36" target="_blank" >https://link.springer.com/chapter/10.1007/978-981-13-9267-2_36</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/978-981-13-9267-2_36" target="_blank" >10.1007/978-981-13-9267-2_36</a>

Result language
angličtina
Original language name
Frontier Detection in Consecutive Grid Maps with Set Reduction
Original language description
The paper deals with the problem of frontier detection. The main contribution of the paper is an approach for reducing a set of detected frontiers. All maps in the paper are assumed to be 2D occupancy grid maps. The detection algorithm is based on computing fused map from the maps obtained in the last two-time steps. Frontiers are detected in the fused map instead of the current map. Moreover, the set of detected frontiers is then reduced by applying two restriction rules. The proposed algorithm is verified in the experiment performed in the simulation environment. The results are compared with a basic naive detection approach and with an approach which does not apply the reducing step.
Czech name
—
Czech description
—

Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2020
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Proceedings of 14th International Conference on Electromechanics and Robotics “Zavalishin's Readings”
ISBN
978-981-13-9266-5
ISSN
2190-3018
e-ISSN
2190-3026
Number of pages
13
Pages from-to
441-453
Publisher name
Springer, Singapore
Place of publication
Singapore
Event location
Kursk, Russia
Event date
Apr 17, 2019
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
—

Similar results(10)