Laser based pose tracking

The trend in localization is towards using more and more detailed models of the world. Our aim is to deal with the question of how simple a model can be used to provide and maintain pose information in an in-door setting. In this paper a Kalman filter based method for continuous position updating using a laser scanner is presented. By updating the position at a high frequency the matching problem becomes tractable and outliers can effectively be filtered out by means of validation gates. The experimental results presented show that the method performs very well in an in-door environment