基于Voronoi地图表示方法的同步定位与地图创建

摘要

针对基于混合米制地图机器人同步定位与地图创建(Simultaneous localization and mapping,SLAM)中地图划分方法不完善的问题,提出了基于Voronoi地图表示方法的同步定位与地图创建算法VorSLAM.该算法在全局坐标系下创建特征地图,并根据此特征地图使用Voronoi图唯一地划分地图空间,在每一个划分内部创建一个相对于特征的局部稠密地图.特征地图与各个局部地图最终一起连续稠密地描述了环境.Voronoi地图表示方法解决了地图划分的唯一性问题,理论证明局部地图可以完整描述该划分所对应的环境轮廓.该地图表示方法一个基本特点是特征与局部地图一一对应,每个特征都关联一个定义在该特征上的局部地图.基于该特点,提出了一个基于形状匹配的数据关联算法,用以解决传统数据关联算法出现的多重关联问题.一个公寓弧形走廊的实验验证了VorSLAM算法和基于形状匹配的数据关联方法的有效性.%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.