High-speed laser localization for mobile robots

Autor(en): Lingemann, K
Nuchter, A
Hertzberg, J 
Surmann, H
Stichwörter: Automation & Control Systems; autonomous mobile robots; Computer Science; Computer Science, Artificial Intelligence; high-speed robotics; localization; pose tracking; Robotics; scan matching
Erscheinungsdatum: 2005
Herausgeber: ELSEVIER
Journal: ROBOTICS AND AUTONOMOUS SYSTEMS
Volumen: 51
Ausgabe: 4
Startseite: 275
Seitenende: 296
Zusammenfassung: 
This paper describes a novel, laser-based approach for tracking the pose of a high-speed mobile robot. The algorithm is outstanding in terms of accuracy and computation time. The efficiency is achieved by a closed-form solution for the matching of two laser scans, the use of natural scan features and fast linear filters. The implemented algorithm is evaluated with the high-speed robot Kurt3D (4 m/s), and compared to standard scan matching methods in indoor and outdoor environments. (c) 2005 Elsevier B.V. All rights reserved.
ISSN: 09218890
DOI: 10.1016/j.robot.2005.02.004

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