Title :
Complex indoor map building based on fusion of sequential Mb-ICP
Author :
Wang Ke ; Zhao Lijun ; Li Ruifeng
Author_Institution :
State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China
Abstract :
Towards complex indoor environment, this paper proposed a fusion method of sequential Mb-ICP scan matching for mobile robot map building. We firstly introduce the classic ICP scan matching method and its limitations for dealing with robot rotation. Based on a new metric space, Mb-ICP scan matching approach is analyzed. We then use Kalman Filter to fuse multiple sequential scan matching results of Mb-ICP. Experimental results are shown to validate the effectiveness of the proposed approach.
Keywords :
Kalman filters; SLAM (robots); image fusion; mobile robots; robot vision; Kalman filter; complex indoor map building; fusion method; mobile robot map building; robot rotation; sequential Mb-ICP scan matching; Buildings; Electronic mail; Fuses; Iterative closest point algorithm; Laboratories; Mobile robots; Fusion of Sequential Scan Matching; Map Building; Mb-ICP; Mobile Robot;
Conference_Titel :
Control Conference (CCC), 2011 30th Chinese
Conference_Location :
Yantai
Print_ISBN :
978-1-4577-0677-6
Electronic_ISBN :
1934-1768
