Title :
Spectral scan matching for robot pose estimation
Author :
Park, Soojin ; Kim, D.H. ; Park, Mirang ; Park, Sung-Kee
Author_Institution :
Center for Cognitive Robot. Res., Korea Inst. of Sci. & Technol., Seoul, South Korea
Abstract :
A novel scan matching method based on a spectral technique is proposed to estimate the robot pose by matching 2D range scans without an initial alignment. The proposed method finds consistent correspondence between two range scans, by considering how well their associated pairwise geometric relationships are satisfied.
Keywords :
geometry; image matching; mobile robots; pose estimation; geometry; robot pose estimation; spectral scan matching;
Journal_Title :
Electronics Letters
DOI :
10.1049/el.2009.1355
