Title :
Odometry-prefered scan matching method
Author :
Lee, Kahyun ; Lee, Sang-Rim ; Lee, Daewoo ; Kolsch, M.
Author_Institution :
Naval Postgrad. Sch., Monterey, CA, USA
Abstract :
In this paper, we address the problem of estimating rigid body transformations in two-dimensional space. A new probabilistic weight function is proposed to find a solution closes to odometry information more preferably. The weight function is motivated by hypothesis that a solution of a scan matching problem which prefers odometry information may show better performance in terms of accuracy and convergence. Through the test with three real data sets, our hypothesis was confirmed.
Keywords :
convergence; laser ranging; probability; convergence; laser range finder; odometry information; odometry-prefered scan matching method; probabilistic weight function; rigid body transformation estimation; two-dimensional space; Accuracy; Conferences; Convergence; Cost function; Iterative closest point algorithm; Probabilistic logic; Robots; Laser range finder; Rigid body transformation; Scan matching;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2012 9th International Conference on
Conference_Location :
Daejeon
Print_ISBN :
978-1-4673-3111-1
Electronic_ISBN :
978-1-4673-3110-4
DOI :
10.1109/URAI.2012.6463077
