DocumentCode :
2676073
Title :
NDT scan matching method for high resolution grid map
Author :
Takubo, Tomohito ; Kaminade, Takuya ; Mae, Yasushi ; Ohara, Kenichi ; Arai, Tatsuo
Author_Institution :
Dept. of Syst. Innovation, Osaka Univ., Toyonaka, Japan
fYear :
2009
fDate :
10-15 Oct. 2009
Firstpage :
1517
Lastpage :
1522
Abstract :
A new convergence calculation method of the normal distributions transform (NDT) scan matching for high resolution of grid maps is proposed. NDT scan matching algorithm usually has a good effect on large grids, so it is difficult to generate the detailed map with small grids. The proposed method employs interactive closest point (ICP) algorithm to find corresponding point, and it also enlarges the convergence area by modifying the eigenvalue of normal distribution so that the evaluation value is driven effectively for the pairing data. In addition, outlier elimination process is implemented to the scanning for sub-grid scale object. The scanning data from laser range finder (LRF) have error but its set of detected small object can be clustered to determine the center of mass (CoM) and the outlier data. The outlier commonly locates behind true points and it can be eliminated when the robot observes from other point. Experimental result shows the effectiveness of the proposed convergence algorithm and outlier elimination method.
Keywords :
SLAM (robots); convergence; eigenvalues and eigenfunctions; laser ranging; mobile robots; normal distribution; transforms; center of mass; convergence calculation method; eigenvalue; high resolution grid map; interactive closest point algorithm; laser range finder; mobile robot; normal distributions transform scan matching; outlier elimination process; simultaneous localization and mapping; subgrid scale object; Convergence; Eigenvalues and eigenfunctions; Gaussian distribution; Intelligent robots; Iterative algorithms; Iterative closest point algorithm; Mesh generation; Object detection; Simultaneous localization and mapping; USA Councils;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-3803-7
Electronic_ISBN :
978-1-4244-3804-4
Type :
conf
DOI :
10.1109/IROS.2009.5353908
Filename :
5353908
Link To Document :
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