Title :
Study on the Localization for a Rescue Robot Based on Laser Scan Matching
Author :
Li, Jinliang ; Bao, Jihua ; Yu, Yan
Abstract :
This paper studied the localization problem for a rescue robot based on laser scan matching and extended Kalman filtering (EKF). Scan matching method based on normal distribution transform (NDT) can avoid hard feature extraction problem by estimation of the probability distribution of laser scan data and localization can be achieved using correlation of the NDT. Based on NDT scan matching, the NDT-EKF algorithm has been proposed, which realizes fast and precise localization in rescue environment by fusing odometery data and scan matching together. The NDT-EKF algorithm has been extensively tested and experimental results show its effectiveness and robustness.
Keywords :
Feature extraction; Gaussian distribution; Kinematics; Laser modes; Laser theory; Navigation; Probability distribution; Robot localization; Robot sensing systems; Robot vision systems; Normal distribution transform; Rescue robots; Robot localization; Scan match-ing;
Conference_Titel :
Machine Vision and Human-Machine Interface (MVHI), 2010 International Conference on
Conference_Location :
Kaifeng, China
Print_ISBN :
978-1-4244-6595-8
Electronic_ISBN :
978-1-4244-6596-5
DOI :
10.1109/MVHI.2010.8
