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As to the morphological characteristics of the seismic damage of the interior ruins, this paper presents a map building mechanism by using the analytic hierarchy process and proposes a hierarchical simultaneous localization and mapping (SLAM) algorithm that is based on the hybrid metric-topological map. The architecture of the ruins-oriented SLAM system consists of three layers. In the intermediate...
According to morphological characteristics in the interior of ruins after an earthquake disaster, a map representation technique for ruins environment is presented, and a corresponding simultaneous localization and mapping algorithm on the basis of hybrid map is proposed. Based on the topological metric hybrid map, the algorithm describes ruins environment at different levels. At global level, the...
This paper presents an approach to solve the data association problem for a hybrid metric map representation. The hybrid metric map representation uses Voronoi diagram to partition the global map space into a series of local subregions, and then a local dense map is built in each subregion. Finally the global feature map and the local maps make up of the hybrid metric map, which can represent all...
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