Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans

Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans (1994)

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by Feng Lu , Evangelos Milios

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Datum	Value	Source
TITLE	Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans	user correction - Legacy Corrections
AUTHOR NAME	Feng Lu	user correction
AUTHOR AFFIL	Department of Computer Science, York University, North York, Canada M3J 1P3	user correction
AUTHOR NAME	Evangelos Milios	user correction
AUTHOR AFFIL	Department of Computer Science, York University, North York, Canada M3J 1P3	user correction
ABSTRACT	A mobile robot exploring an unknown environment has no absolute frame of reference for its position, other than features it detects through its sensors. Using distinguishable landmarks is one possible approach, but it requires solving the object recognition problem. In particular, when the robot uses two-dimensional laser range scans for localization, it is difficult to accurately detect and localize landmarks in the environment (such as corners and occlusions) from the range scans. In this paper, we develop two new iterative algorithms to register a range scan to a previous scan so as to compute relative robot positions in an unknown environment, that avoid the above problems. The first algorithm is based on matching data points with tangent directions in two scans and minimizing a distance function in order to solve the displacementbetween the scans. The second algorithm establishes correspondences between points in the two scans and then solves the point-to-point least-squares probl...	user correction - Legacy Corrections
YEAR	1994	user correction - Legacy Corrections
CITATIONS	25 found	ParsCit 1.0