DocumentCode :
775641
Title :
Metric-based iterative closest point scan matching for sensor displacement estimation
Author :
Minguez, Javier ; Montesano, Luis ; Lamiraux, Florent
Author_Institution :
Departamento de Informatica e Ingenieria de Sistemas, Zaragoza Univ.
Volume :
22
Issue :
5
fYear :
2006
Firstpage :
1047
Lastpage :
1054
Abstract :
This paper addresses the scan matching problem for mobile robot displacement estimation. The contribution is a new metric distance and all the tools necessary to be used within the iterative closest point framework. The metric distance is defined in the configuration space of the sensor, and takes into account both translation and rotation error of the sensor. The new scan matching technique ameliorates previous methods in terms of robustness, precision, convergence, and computational load. Furthermore, it has been extensively tested to validate and compare this technique with existing methods
Keywords :
displacement measurement; iterative methods; mobile robots; telerobotics; iterative closest point framework; mobile robot displacement estimation; point scan matching technique; sensor displacement estimation; Computational geometry; Equations; Mobile robots; Motion planning; Optimal control; Orbital robotics; Path planning; Robot motion; Robot sensing systems; Skeleton; Mobile robots; scan matching; sensor displacement estimation;
fLanguage :
English
Journal_Title :
Robotics, IEEE Transactions on
Publisher :
ieee
ISSN :
1552-3098
Type :
jour
DOI :
10.1109/TRO.2006.878961
Filename :
1705596
Link To Document :
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