DocumentCode
2939944
Title
Scan Matching in the Hough Domain
Author
Censi, Andrea ; Iocchi, Luca ; Grisetti, Giorgio
Author_Institution
Dipartimento di Informatica e Sistemistica ”A. Ruberti”, University of Rome “La Sapienza”, Via Salaria 113, I-00198 Rome, Italy E-mail: acensi@dis.uniroma1.it
fYear
2005
fDate
18-22 April 2005
Firstpage
2739
Lastpage
2744
Abstract
Scan matching is used as a building block in many robotic applications, for localization and simultaneous localization and mapping (SLAM). Although many techniques have been proposed for scan matching in the past years, more efficient and effective scan matching procedures allow for improvements of such associated problems. In this paper we present a new scan matching method that, exploiting the properties of the Hough domain, allows for combining advantages of dense scan matching algorithms with feature-based ones.
Keywords
Hough Transform; Scan matching; Acoustic noise; Application software; Computer science; Feature extraction; Noise robustness; Remuneration; Robots; Sensor phenomena and characterization; Simultaneous localization and mapping; Working environment noise; Hough Transform; Scan matching;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN
0-7803-8914-X
Type
conf
DOI
10.1109/ROBOT.2005.1570528
Filename
1570528
Link To Document