Laser Scan Matching by FAST CVSAC in Dynamic Environment
نویسندگان
چکیده
منابع مشابه
Fast Laser Scan Matching using Polar Coordinates
In this paper a novel Polar Scan Matching (PSM) approach is described that works in the laser scanner’s polar coordinate system, therefore taking advantage of the structure of the laser measurements and eliminates the need for an expensive search for corresponding points in other scan match approaches. PSM belongs to the family of point to point scan matching approaches with its matching bearin...
متن کاملLine Matching Algorithm for 2 D Laser Scan Matching in Regular Environment
This paper describes a multi-UAV firemen monitoring mission carried out in the framework of the AWARE Project. Several firemen were located in an area in front of a simulated building assisting injured people and moving equipment. The objective of the user was to have an estimation of the location of the firemen on the map and also images of their operations. Two autonomous helicopters were ava...
متن کاملFast Least Square Matching
Least square matching (LSM) is one of the most accurate image matching methods in photogrammetry and remote sensing. The main disadvantage of the LSM is its high computational complexity due to large size of observation equations. To address this problem, in this paper a novel method, called fast least square matching (FLSM) is being presented. The main idea of the proposed FLSM is decreasing t...
متن کاملFast laser scan matching approach based on adaptive curvature estimation for mobile robots
This paper describes a complete laser-based approach for tracking the pose of a robot in a dynamic environment. The main novelty of this approach is that the matching between consecutively acquired scans is achieved using their associated curvature-based representations. The proposed scan matching algorithm consists of three stages. Firstly, the whole raw laser data is segmented into groups of ...
متن کاملScan Matching for Graph SLAM in Indoor Dynamic Scenarios
SLAM (Simultaneous Localization And Mapping) plays an essential and important role for mobile robotic autonomous navigation. SLAM in dynamic environments with moving objects is a challenging problem. We focus on scan matching for Graph-SLAM in indoor dynamic scenarios. Scan matching algorithm is proposed and implemented, which consists of the following phases: first, conditioned Hough Transform...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: International Journal of Intelligent Systems and Applications
سال: 2013
ISSN: 2074-904X,2074-9058
DOI: 10.5815/ijisa.2013.11.02