Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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2D Grid Map Compensation using an ICP Algorithm

ICP 알고리즘을 이용한 2차원 격자지도 보정

  • Lee, Dong-Ju (Department of Electrical Engineering, Pusan National University) ;
  • Hwang, Yu-Seop (Department of Electrical Engineering, Pusan National University) ;
  • Yun, Yeol-Min (Department of Electrical Engineering, Pusan National University) ;
  • Lee, Jang-Myung (Department of Electrical Engineering, Pusan National University)
  • 이동주 (부산대학교 전자전기컴퓨터공학과) ;
  • 황요섭 (부산대학교 전자전기컴퓨터공학과) ;
  • 윤열민 (부산대학교 전자전기컴퓨터공학과) ;
  • 이장명 (부산대학교 전자전기컴퓨터공학과)
  • Received : 2014.07.07
  • Accepted : 2014.09.15
  • Published : 2014.11.01
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Abstract

This paper suggests using the ICP (Iterative Closet Point) algorithm to compensate a two-dimensional map. ICP algorithm is a typical algorithm method using matching distance data. When building a two-dimensional map, using data through the value of a laser scanner, it occurred warping and distortion of a two-dimensional map because of the difference of distance from the value of the sensor. It uses the ICP algorithm in order to reduce any error of line. It validated the proposed method through experiment involving matching a two-dimensional map based reference data and measured the two-dimensional map.

Keywords

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