Laser Scan Matching Using Multiplex Histograms with Feature Components

摘要：

A new laser scan matching algorithm is proposed in this paper. By constructing multiplex histograms, the new algorithm offers a simple way for importing geometrical features into the histogram method, obtaining more geometrical information from the laser scan data, and carrying out more accurate matching results. Also, an optimal maximum selection mechanism is employed to .lter out the incorrect matching results, which further guarantees the matching precision. With the satisfactory matching results, the new algorithm shows a promising application prospect to the self-localization of robots. Experiments are performed to prove the feasibility and accuracy of the new algorithm.

作者: Quan Qiu Jianda Han

作者单位: State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenya State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenya

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 275-280

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）