Scan matching using line segment relationships for map-based localization of mobile robot

被引：3
|
作者：
葛坤峰 [1 ]
陈卫东 [1 ]
王景川 [1 ]
冉宇瑶 [2 ]
机构：
[1] Dept. of Automation, Shanghai Jiaotong University
[2] Dept. of Computer Science and Technology, Zhejiang Sci-Tech University
来源：
Journal of Harbin Institute of Technology(New series) | 2008年 / 06期
基金：
国家高技术研究发展计划(863计划); 中国国家自然科学基金;
关键词：
scan matching; laser range finder; map-based localization; mobile robot;
D O I：
暂无
中图分类号：
TP242 [机器人];
学科分类号：
1111 ;
摘要：
A new scan matching method for mobile robot localization is presented, which takes line segment as the feature and matches the real scans in the given reference map by relationships of the directional-defined line segments. The alignment was done by hierarchically identifying the multiple relationships and the result was recorded in a correspondence matrix, where the best match is defined and selected for localization. It is indicated that the searching algorithm of the best match can find the ambiguities and get rid of them. This method with less computational cost works well in occluded environment, and can correct the error in pose estimation without the need for the estimation itself. The efficiency, accuracy and robustness of this method were verified by experiments of localization in an occluded environment and a long-distance indoor navigation.
引用
收藏
页码：757 / 762
页数：6
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