• Title/Summary/Keyword: 계산방법

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A Global Self-Position Localization in Wide Environments Using Gradual RANSAC Method (점진적 RANSAC 방법을 이용한 넓은 환경에서의 대역적 자기 위치 추정)

  • Jung, Nam-Chae
    • Journal of the Institute of Convergence Signal Processing
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    • v.11 no.4
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    • pp.345-353
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    • 2010

  • A general solution in global self-position location of robot is to generate multiple hypothesis in self-position of robot, which is to look for the most positive self-position by evaluating each hypothesis based on features of observed landmark. Markov Localization(ML) or Monte Carlo Localization(MCL) to be the existing typical method is to evaluate all pairs of landmark features and generated hypotheses, it can be said to be an optimal method in sufficiently calculating resources. But calculating quantities was proportional to the number of pairs to evaluate in general, so calculating quantities was piled up in wide environments in the presence of multiple pairs if using these methods. First of all, the positive and promising pairs is located and evaluated to solve this problem in this paper, and the newly locating method to make effective use of calculating time is proposed. As the basic method, it is used both RANSAC(RANdom SAmple Consensus) algorithm and preemption scheme to be efficiency method of RANSAC algorithm. The calculating quantity on each observation of robot can be suppressed below a certain values in the proposed method, and the high location performance can be determined by an experimental on verification.

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A Terrain Surface Approximation Using the Hermite Function (Hermite함수를 이용한 지형곡면근사)

  • 문두열;정범석;이용희
    • Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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    • v.20 no.3
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    • pp.265-272
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    • 2002

  • By this time, many methods have been developed for computing the pit excavation volumes, ranging from a simple formula to more complicated numerical methods. Earlier the standard methods for pit excavation volume computation requires that the considered area be divided the boundary ranges of x and y directions into a rectangular grid. whereas these methods may not calculate the estimation of pit excavation volume that is often required in many surveying situation exactly. In Easa methods(1998), the rectangular grid is divided into the same linear in the range x and y directions respectively. This method employs a cubic Hermite polynomial for individual intervals in both directions of the grid. Because the height data over the same boundary of x and y interval ranges have to be exist, it is not possible to choose the governing points of the terrain boundary such as points of maximum and minimum height. In this study, a method of volume computation, that combines the advantages of Easa methods(1998) and avoids the drawbacks of it, is presented. The proposed method employs a cubic Hermite polynomial for individual intervals in both directions of the non-grid, the all over intervals of it may be unequal grid x in width and y in length y, partially. The new proposed method should produce better accuracy than the other conventional methods.

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