The first subject of this dissertation is focused on environment map building for indoor environment and outdoor environment.
第一部分内容是环境地图构建，包括室内环境地图构建和室外环境地图构建。
So, research on environment modelling of mobile robots, usually named map building, receives more and more attention.
因此移动机器人的自主环境构建(通常称为地图创建)问题越来越受到各国研究者的重视。
Normal Distributions Transform (NDT) is used in scan-matching based SLAM, and map-building is implemented in larger scale indoor environment by home service robots.
将正态分布变换(NDT)应用于基于扫描匹配的SLAM中，实现了家庭服务机器人较大规模室内环境下的建图。
The map building of grid-based is probabilistic model: the work environment is decomposed into grids and every grid takes up a value, which indicates the probability of an obstacle in grids.
基于栅格的地图创建是概率模型：工作环境被划分成栅格，每一个栅格赋一个值，标志栅格中有障碍物的概率。
In order to realize the map building based on ultrasonic, a transmitting signal model is established and the D-S theory is used for updating the environment map.
利用超声发射信号模型，并使用d - S证据理论对环境地图进行更新，从而实现了基于超声的栅格地图创建。
A local map building method based on laser data adaptive curvature estimation is presented for mobile robot in unknown structured environment.
针对未知环境中机器人局部地图的构建问题，提出一种激光测距的离散数据自适应曲率估计算法。
A local map building method based on laser data adaptive curvature estimation is presented for mobile robot in unknown structured environment.
针对未知环境中机器人局部地图的构建问题，提出一种激光测距的离散数据自适应曲率估计算法。
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