Odometry-prefered Scan Matching Method
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Authors
Lee, K.
Lee, S.
Lee, D.
Kölsch, M.
Subjects
Laser range finder
Scan matching
Rigid body transformation
Scan matching
Rigid body transformation
Advisors
Date of Issue
2012-11-26
Date
November 26-29 2012
Publisher
IEEE
Language
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.
Type
Article
Description
The article of record as published may be found at http://dx.doi.org/10.1109/URAI.2012.6463077
Published in: 2012 9th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)
Published in: 2012 9th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)
Series/Report No
Department
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Funder
Format
2 p.
Citation
Lee, K., et al. "Odometry-prefered scan matching method." 2012 9th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI). IEEE, 2012.
Distribution Statement
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.