Abstract
This work presents an enhanced polar scan-matching procedure (E-PSM) that obtains its inputs from the application of an advanced line segmentation algorithm to the laser range returns. Additionally, a set of alternative methods based on local and global optimization algorithms is introduced. Results from robot simulation tests are provided for different ranges of laser range return noise and odometry sensor error levels. The results show that the proposed E-PSM algorithm and one of the methods based on global optimization yield good robot pose estimation precision while keeping computational costs at a reasonable level.
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Navarro Santosjuanes, I., Cuadra-Troncoso, J.M., de la Paz López, F., Arnau Prieto, R. (2013). Improved Polar Scan-Matching Using an Advanced Line Segmentation Algorithm. In: Ferrández Vicente, J.M., Álvarez Sánchez, J.R., de la Paz López, F., Toledo Moreo, F.J. (eds) Natural and Artificial Computation in Engineering and Medical Applications. IWINAC 2013. Lecture Notes in Computer Science, vol 7931. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-38622-0_4
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DOI: https://doi.org/10.1007/978-3-642-38622-0_4
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