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Citace

Petr Neduchal and Miroslav Flídr and Miloš Železný : Fast Frontier Detection Approach in Consecutive Grid Maps . International Conference on Interactive Collaborative Robotics, Lecture Notes in Computer Science, vol. 11097, p. 192-201, 2018.

Abstrakt

This paper deals with frontiers detection in occupancy grid maps. The proposed method is based on differences between consecutive maps. Using this approach, frontiers detection is accelerated by calculating the third map which contains only new data. Thus, only new frontiers are detected and added to the list of frontiers. The main contribution of this paper is the description of the proposed approach and its open sourced implementation in Python. Moreover, several results of experiments are discussed. The proposed approach is capable to run very fast even for large maps with many frontiers.

Detail publikace

Název: Fast Frontier Detection Approach in Consecutive Grid Maps
Autor: Petr Neduchal ; Miroslav Flídr ; Miloš Železný
Název - česky: Fast Frontier Detection Approach in Consecutive Grid Maps
Jazyk publikace: anglicky
Datum vydání: 19.8.2018
Rok vydání: 2018
Typ publikace: Stať ve sborníku
Název knihy: International Conference on Interactive Collaborative Robotics
Svazek: Lecture Notes in Computer Science
Číslo vydání: 11097
Strana: 192 - 201
DOI: 10.1007/978-3-319-99582-3_20
ISBN: 978-3-319-99581-6
/ 2019-11-21 09:21:51 /

Klíčová slova

Autonomous robotics, Frontier detection, Localization, mapping, Image processing

BibTeX

@INPROCEEDINGS{PetrNeduchal_2018_FastFrontier,
 author = {Petr Neduchal and Miroslav Fl\'{i}dr and Milo\v{s} \v{Z}elezn\'{y}},
 title = {Fast Frontier Detection Approach in Consecutive Grid Maps},
 year = {2018},
 volume = {11097},
 pages = {192-201},
 booktitle = {International Conference on Interactive Collaborative Robotics},
 series = {Lecture Notes in Computer Science},
 ISBN = {978-3-319-99581-6},
 doi = {10.1007/978-3-319-99582-3_20},
 url = {http://www.kky.zcu.cz/en/publications/PetrNeduchal_2018_FastFrontier},
}