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 | Enthalten in: | ROBOTICS AND AUTONOMOUS SYSTEMS | Band: | 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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