Spectral Scan Matching and Its Application to Global Localization for Mobile Robot

Title
Spectral Scan Matching and Its Application to Global Localization for Mobile Robot
Authors
박순용박성기
Keywords
mobile robot; global localization; Scan matcning; spectral matching
Issue Date
2010-05
Publisher
International Conference on Robotics and Automation (ICRA 2010)
Citation
, 1361-1366
Abstract
This paper presents a new scan matching method for mobile robot localization. The proposed method is based on a spectral technique, which finds consistent correspondences between two range scans without any initial alignment while considering how well their associated pairwise geometric relationships are satisfied. Based on the scan matching method, we also suggest a strategy for global localization in indoor environments, which is applicable to both grid maps and topological maps having metric information. The feasibility of the proposed methods is demonstrated by experimental results.
URI
http://pubs.kist.re.kr/handle/201004/39158
Appears in Collections:
KIST Publication > Conference Paper
Files in This Item:
There are no files associated with this item.
Export
RIS (EndNote)
XLS (Excel)
XML


qrcode

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE