• DocumentCode
    1497833
  • Title

    Spectral scan matching for robot pose estimation

  • Author

    Park, Soojin ; Kim, D.H. ; Park, Mirang ; Park, Sung-Kee

  • Author_Institution
    Center for Cognitive Robot. Res., Korea Inst. of Sci. & Technol., Seoul, South Korea
  • Volume
    45
  • Issue
    21
  • fYear
    2009
  • Firstpage
    1076
  • Lastpage
    1077
  • Abstract
    A novel scan matching method based on a spectral technique is proposed to estimate the robot pose by matching 2D range scans without an initial alignment. The proposed method finds consistent correspondence between two range scans, by considering how well their associated pairwise geometric relationships are satisfied.
  • Keywords
    geometry; image matching; mobile robots; pose estimation; geometry; robot pose estimation; spectral scan matching;
  • fLanguage
    English
  • Journal_Title
    Electronics Letters
  • Publisher
    iet
  • ISSN
    0013-5194
  • Type

    jour

  • DOI
    10.1049/el.2009.1355
  • Filename
    5284458
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1497833