ICE Matching, a Robust Mobile Robot Localization with Application to SLAM

Author

Taleghani, Sanaz ; Sharbafi, Maziar A. ; Haghighat, Abolfazl T. ; Esmaeili, Edris

Author_Institution

Dept. of Electr., Comput. & IT Eng., Qazvin Azad Univ. Qazvin, Qazvin, Iran

Volume

1

fYear

2010

Firstpage

186

Lastpage

192

Abstract

Scan matching as a basic part of SLAM has a key role in localization and even mapping of mobile robots. Our innovative method named ICE matching presents a fast and accurate method to solve the challenges of this problem. Novelty in defining new features, matching mechanism and new state estimation approach congregated in this method creates a robust practical technique. Comparison with some high quality scan matching methods from different viewpoints illustrates the performance of ICE matching. It was applied besides Grid based mapping to generate fine tuned maps to compare with slam methods.

Keywords

mobile robots; state estimation; ICE matching; SLAM; grid based mapping; robust mobile robot localization; scan matching methods; simultaneous localization and mapping; state estimation approach; Complexity theory; Feature extraction; Ice; Robustness; Simultaneous localization and mapping; Grid Mapping; Localization; Mobile Robot; SLAM; Scan Matching;

fLanguage

English

Publisher

ieee

Conference_Titel

Tools with Artificial Intelligence (ICTAI), 2010 22nd IEEE International Conference on

Conference_Location

Arras

ISSN

1082-3409

Print_ISBN

978-1-4244-8817-9

Type

conf

DOI

10.1109/ICTAI.2010.33

Filename

5670036